Systems and methods for tracking and fault detection, for example among autonomous vehicles, in a network of moving things

ABSTRACT

Systems and methods for achieving road action consensus in a network of moving things. As non-limiting examples, various aspects of this disclosure provide systems and methods for achieving road action consensus in vehicles (e.g., autonomous vehicles, manually controlled vehicles, etc.) of a network of moving things.

CROSS-REFERENCE TO RELATED APPLICATIONS/INCORPORATION BY REFERENCE

This patent application makes reference to, claims priority to, andclaims benefit from U.S. Provisional Patent Application Ser. No.62/415,268, filed on Oct. 31, 2016, and titled “Systems and Methods forTracking and Fault Detection, for Example Among Autonomous Vehicles, ina Network of Moving Things,” which is hereby incorporated herein byreference in its entirety.

The present application is also related to U.S. Provisional ApplicationSer. No. 62/221,997, titled “Integrated Communication Network for aNetwork of Moving Things,” filed on Sep. 22, 2015; U.S. ProvisionalApplication Ser. No. 62/222,016, titled “Systems and Methods forSynchronizing a Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/222,042, titled “Systems and Methodsfor Managing a Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/222,066, titled “Systems and Methodsfor Monitoring a Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/222,077, titled “Systems and Methodsfor Detecting and Classifying Anomalies in a Network of Moving Things,”filed on Sep. 22, 2015; U.S. Provisional Application Ser. No.62/222,098, titled “Systems and Methods for Managing Mobility in aNetwork of Moving Things,” filed on Sep. 22, 2015; U.S. ProvisionalApplication Ser. No. 62/222,121, titled “Systems and Methods forManaging Connectivity a Network of Moving Things,” filed on Sep. 22,2015; U.S. Provisional Application Ser. No. 62/222,135, titled “Systemsand Methods for Collecting Sensor Data in a Network of Moving Things,”filed on Sep. 22, 2015; U.S. Provisional Application Ser. No.62/222,145, titled “Systems and Methods for Interfacing with a Networkof Moving Things,” filed on Sep. 22, 2015; U.S. Provisional ApplicationSer. No. 62/222,150, titled “Systems and Methods for Interfacing with aUser of a Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/222,168, titled “Systems and Methodsfor Data Storage and Processing for a Network of Moving Things,” filedon Sep. 22, 2015; U.S. Provisional Application Ser. No. 62/222,183,titled “Systems and Methods for Vehicle Traffic Management in a Networkof Moving Things,” filed on Sep. 22, 2015; U.S. Provisional ApplicationSer. No. 62/222,186, titled “Systems and Methods for EnvironmentalManagement in a Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/222,190, titled “Systems and Methodsfor Port Management in a Network of Moving Things,” filed on Sep. 22,2015; U.S. Provisional Patent Application Ser. No. 62/222,192, titled“Communication Network of Moving Things,” filed on Sep. 22, 2015; U.S.Provisional Application Ser. No. 62/244,828, titled “UtilizingHistorical Data to Correct GPS Data in a Network of Moving Things,”filed on Oct. 22, 2015; U.S. Provisional Application Ser. No.62/244,930, titled “Using Anchors to Correct GPS Data in a Network ofMoving Things,” filed on Oct. 22, 2015; U.S. Provisional ApplicationSer. No. 62/246,368, titled “Systems and Methods for Inter-ApplicationCommunication in a Network of Moving Things,” filed on Oct. 26, 2015;U.S. Provisional Application Ser. No. 62/246,372, titled “Systems andMethods for Probing and Validating Communication in a Network of MovingThings,” filed on Oct. 26, 2015; U.S. Provisional Application Ser. No.62/250,544, titled “Adaptive Rate Control for Vehicular Networks,” filedon Nov. 4, 2015; U.S. Provisional Application Ser. No. 62/273,878,titled “Systems and Methods for Reconfiguring and Adapting Hardware in aNetwork of Moving Things,” filed on Dec. 31, 2015; U.S. ProvisionalApplication Ser. No. 62/253,249, titled “Systems and Methods forOptimizing Data Gathering in a Network of Moving Things,” filed on Nov.10, 2015; U.S. Provisional Application Ser. No. 62/257,421, titled“Systems and Methods for Delay Tolerant Networking in a Network ofMoving Things,” filed on Nov. 19, 2015; U.S. Provisional ApplicationSer. No. 62/265,267, titled “Systems and Methods for Improving Coverageand Throughput of Mobile Access Points in a Network of Moving Things,”filed on Dec. 9, 2015; U.S. Provisional Application Ser. No. 62/270,858,titled “Channel Coordination in a Network of Moving Things,” filed onDec. 22, 2015; U.S. Provisional Application Ser. No. 62/257,854, titled“Systems and Methods for Network Coded Mesh Networking in a Network ofMoving Things,” filed on Nov. 20, 2015; U.S. Provisional ApplicationSer. No. 62/260,749, titled “Systems and Methods for Improving FixedAccess Point Coverage in a Network of Moving Things,” filed on Nov. 30,2015; U.S. Provisional Application Ser. No. 62/273,715, titled “Systemsand Methods for Managing Mobility Controllers and Their NetworkInteractions in a Network of Moving Things,” filed on Dec. 31, 2015;U.S. Provisional Application Ser. No. 62/281,432, titled “Systems andMethods for Managing and Triggering Handovers of Mobile Access Points ina Network of Moving Things,” filed on Jan. 21, 2016; U.S. ProvisionalApplication Ser. No. 62/268,188, titled “Captive Portal-related Controland Management in a Network of Moving Things,” filed on Dec. 16, 2015;U.S. Provisional Application Ser. No. 62/270,678, titled “Systems andMethods to Extrapolate High-Value Data from a Network of Moving Things,”filed on Dec. 22, 2015; U.S. Provisional Application Ser. No.62/272,750, titled “Systems and Methods for Remote Software Update andDistribution in a Network of Moving Things,” filed on Dec. 30, 2015;U.S. Provisional Application Ser. No. 62/278,662, titled “Systems andMethods for Remote Configuration Update and Distribution in a Network ofMoving Things,” filed on Jan. 14, 2016; U.S. Provisional ApplicationSer. No. 62/286,243, titled “Systems and Methods for Adapting a Networkof Moving Things Based on User Feedback,” filed on Jan. 22, 2016; U.S.Provisional Application Ser. No. 62/278,764, titled “Systems and Methodsto Guarantee Data Integrity When Building Data Analytics in a Network ofMoving Things,” Jan. 14, 2016; U.S. Provisional Application Ser. No.62/286,515, titled “Systems and Methods for Self-Initialization andAutomated Bootstrapping of Mobile Access Points in a Network of MovingThings,” filed on Jan. 25, 2016; U.S. Provisional Application Ser. No.62/295,602, titled “Systems and Methods for Power Management in aNetwork of Moving Things,” filed on Feb. 16, 2016; and U.S. ProvisionalApplication Ser. No. 62/299,269, titled “Systems and Methods forAutomating and Easing the Installation and Setup of the InfrastructureSupporting a Network of Moving Things,” filed on Feb. 24, 2016; each ofwhich is hereby incorporated herein by reference in its entirety for allpurposes.

BACKGROUND

Current networks of moving things, for example networks comprisingautonomous vehicles, are unable to adequately support vehicle control,monitoring, and/or the recreation of vehicle events. As a non-limitingexample, current networks of moving things are unable to adequatelysupport a network comprising a complex array of both moving and staticnodes, for example associated with autonomous and/or manually controlledvehicles. Limitations and disadvantages of conventional methods andsystems will become apparent to one of skill in the art, throughcomparison of such approaches with some aspects of the present methodsand systems set forth in the remainder of this disclosure with referenceto the drawings.

BRIEF DESCRIPTION OF SEVERAL VIEWS OF THE DRAWINGS

FIG. 1 shows a block diagram of a communication network, in accordancewith various aspects of this disclosure.

FIG. 2 shows a block diagram of a communication network, in accordancewith various aspects of this disclosure.

FIG. 3 shows a diagram of a metropolitan area network, in accordancewith various aspects of this disclosure.

FIG. 4 shows a block diagram of a communication network, in accordancewith various aspects of this disclosure.

FIGS. 5A-5C show a plurality of network configurations illustrating theflexibility and/or and resiliency of a communication network, inaccordance with various aspects of this disclosure.

FIG. 6 shows a block diagram of an example communication network, inaccordance with various aspects of the present disclosure.

FIG. 7 shows a block diagram of an example communication network, inaccordance with various aspects of the present disclosure.

FIG. 8 shows a diagram of various example vehicle control scenarios, inaccordance with various aspects of the present disclosure.

FIG. 9 shows a flow diagram of an example method for managing roadactions, in accordance with various aspects of the present disclosure.

FIG. 10 shows a flow diagram of an example method for managing roadactions, in accordance with various aspects of the present disclosure.

FIG. 11 shows a flow diagram of an example method for controllingvehicle travel, in accordance with various aspects of the presentdisclosure.

FIG. 12 shows a flow diagram of an example method for controllingvehicle travel, in accordance with various aspects of the presentdisclosure.

FIG. 13 shows a flow diagram of an example method for monitoring vehicletravel and recreating a vehicle travel event, in accordance with variousaspects of the present disclosure.

FIG. 14 shows a block diagram of an example network node, in accordancewith various aspects of the present disclosure.

SUMMARY

Various aspects of this disclosure provide systems and methods forcontrolling, tracking, and analyzing vehicle travel in a network ofmoving things. As non-limiting examples, various aspects of thisdisclosure provide systems and methods for controlling vehicle travel(e.g., of autonomous vehicles, manually controlled vehicles, etc.),monitoring vehicle travel, and recreating vehicle travel events, in anetworking of moving things.

DETAILED DESCRIPTION OF VARIOUS ASPECTS OF THE DISCLOSURE

As utilized herein the terms “circuits” and “circuitry” refer tophysical electronic components (i.e., hardware) and any software and/orfirmware (“code”) that may configure the hardware, be executed by thehardware, and or otherwise be associated with the hardware. As usedherein, for example, a particular processor and memory (e.g., a volatileor non-volatile memory device, a general computer-readable medium, etc.)may comprise a first “circuit” when executing a first one or more linesof code and may comprise a second “circuit” when executing a second oneor more lines of code. Additionally, a circuit may comprise analogand/or digital circuitry. Such circuitry may, for example, operate onanalog and/or digital signals. It should be understood that a circuitmay be in a single device or chip, on a single motherboard, in a singlechassis, in a plurality of enclosures at a single geographical location,in a plurality of enclosures distributed over a plurality ofgeographical locations, etc. Similarly, the term “module” may, forexample, refer to a physical electronic components (i.e., hardware) andany software and/or firmware (“code”) that may configure the hardware,be executed by the hardware, and or otherwise be associated with thehardware.

As utilized herein, circuitry is “operable” to perform a functionwhenever the circuitry comprises the necessary hardware and code (if anyis necessary) to perform the function, regardless of whether performanceof the function is disabled, or not enabled (e.g., by auser-configurable setting, factory setting or trim, etc.).

As utilized herein, “and/or” means any one or more of the items in thelist joined by “and/or”. As an example, “x and/or y” means any elementof the three-element set {(x), (y), (x, y)}. That is, “x and/or y” means“one or both of x and y.” As another example, “x, y, and/or z” means anyelement of the seven-element set {(x), (y), (z), (x, y), (x, z), (y, z),(x, y, z)}. That is, “x, y, and/or z” means “one or more of x, y, andz.” As utilized herein, the terms “e.g.,” and “for example,”“exemplary,” and the like set off lists of one or more non-limitingexamples, instances, or illustrations.

The terminology used herein is for the purpose of describing particularexamples only and is not intended to be limiting of the disclosure. Asused herein, the singular forms are intended to include the plural formsas well, unless the context clearly indicates otherwise. It will befurther understood that the terms “comprises,” “includes,” “comprising,”“including,” “has,” “have,” “having,” and the like when used in thisspecification, specify the presence of stated features, integers, steps,operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, integers, steps,operations, elements, components, and/or groups thereof.

It will be understood that, although the terms first, second, etc. maybe used herein to describe various elements, these elements should notbe limited by these terms. These terms are only used to distinguish oneelement from another element. Thus, for example, a first element, afirst component or a first section discussed below could be termed asecond element, a second component or a second section without departingfrom the teachings of the present disclosure. Similarly, various spatialterms, such as “upper,” “lower,” “side,” and the like, may be used indistinguishing one element from another element in a relative manner. Itshould be understood, however, that components may be oriented indifferent manners, for example an electronic device may be turnedsideways so that its “top” surface is facing horizontally and its “side”surface is facing vertically, without departing from the teachings ofthe present disclosure.

With the proliferation of the mobile and/or static things (e.g.,devices, machines, people, etc.) and logistics for such things to becomeconnected to each other (e.g., in the contexts of smart logistics,transportation, environmental sensing, etc.), a platform that is forexample always-on, robust, scalable and secure that is capable ofproviding connectivity, services and Internet access to such things (orobjects), anywhere and anytime is desirable. Efficient power utilizationwithin the various components of such system is also desirable.

Accordingly, various aspects of the present disclosure provide afully-operable, always-on, responsive, robust, scalable, secureplatform/system/architecture to provide connectivity, services andInternet access to all mobile things and/or static things (e.g.,devices, machines, people, access points, end user devices, sensors,etc.) anywhere and anytime, while operating in an energy-efficientmanner.

Various aspects of the present disclosure provide a platform that isflexibly configurable and adaptable to the various requirements,features, and needs of different environments, where each environmentmay be characterized by a respective level of mobility and density ofmobile and/or static things, and the number and/or types of access tothose things. Characteristics of various environments may, for example,include high mobility of nodes (e.g., causing contacts or connections tobe volatile), high number of neighbors, high number of connected mobileusers, mobile access points, availability of multiple networks andtechnologies (e.g., sometimes within a same area), etc. For example, themode of operation of the platform may be flexibly adapted fromenvironment to environment, based on each environment's respectiverequirements and needs, which may be different from other environments.Additionally for example, the platform may be flexibly optimized (e.g.,at design/installation time and/or in real-time) for different purposes(e.g., to reduce the latency, increase throughput, reduce powerconsumption, load balance, increase reliability, make more robust withregard to failures or other disturbances, etc.), for example based onthe content, service or data that the platform provides or handleswithin a particular environment.

In accordance with various aspects of the present disclosure, manycontrol and management services (e.g., mobility, security, routing,etc.) are provided on top of the platform (e.g., directly, using controloverlays, using containers, etc.), such services being compatible withthe services currently deployed on top of the Internet or othercommunication network(s).

The communication network (or platform), in whole or in part, may forexample be operated in public and/or private modes of operation, forexample depending on the use case. The platform may, for example,operate in a public or private mode of operation, depending on theuse-case (e.g., public Internet access, municipal environment sensing,fleet operation, etc.).

Additionally for example, in an implementation in which various networkcomponents are mobile, the transportation and/or signal controlmechanisms may be adapted to serve the needs of the particularimplementation. Also for example, wireless transmission power and/orrate may be adapted (e.g., to mitigate interference, to reduce powerconsumption, to extend the life of network components, etc.

Various example implementations of a platform, in accordance withvarious aspects of the present disclosure, are capable of connectingdifferent subsystems, even when various other subsystems that maynormally be utilized are unavailable. For example, the platform maycomprise various built-in redundancies and fail-recovery mechanisms. Forexample, the platform may comprise a self-healing capability,self-configuration capability, self-adaptation capability, etc. Theprotocols and functions of the platform may, for example, be prepared tobe autonomously and smoothly configured and adapted to the requirementsand features of different environments characterized by different levelsof mobility and density of things (or objects), the number/types ofaccess to those things. For example, various aspects of the platform maygather context parameters that can influence any or all decisions. Suchparameters may, for example, be derived locally, gathered from aneighborhood, Fixed APs, the Cloud, etc. Various aspects of the platformmay also, for example, ask for historical information to feed any of thedecisions, where such information can be derived from historical data,from surveys, from simulators, etc. Various aspects of the platform mayadditionally, for example, probe or monitor decisions made throughoutthe network, for example to evaluate the network and/or the decisionsthemselves in real-time. Various aspects of the platform may further,for example, enforce the decisions in the network (e.g., afterevaluating the probing results). Various aspects of the platform may,for example, establish thresholds to avoid any decision that is to beconstantly or repeatedly performed without any significant advantage(e.g., technology change, certificate change, IP change, etc.). Variousaspects of the platform may also, for example, learn locally (e.g., withthe decisions performed) and dynamically update the decisions.

In addition to (or instead of) failure robustness, a platform mayutilize multiple connections (or pathways) that exist between distinctsub-systems or elements within the same sub-system, to increase therobustness and/or load-balancing of the system.

The following discussion will present examples of the functionalityperformed by various example subsystems of the communication network. Itshould be understood that the example functionality discussed hereinneed not be performed by the particular example subsystem or by a singlesubsystem. For example, the subsystems present herein may interact witheach other, and data or control services may be deployed either in acentralized way, or having their functionalities distributed among thedifferent subsystems, for example leveraging the cooperation between theelements of each subsystem.

Various aspects of the present disclosure provide a communicationnetwork (e.g., a city-wide vehicular network, a shipping port-sizedvehicular network, a campus-wide vehicular network, etc.) that utilizesvehicles (e.g., automobiles, buses, trucks, boats, forklifts,human-operated vehicles, autonomous and/or remote controlled vehicles,etc.) as Wi-Fi hotspots. Note that Wi-Fi is generally used throughoutthis discussion as an example, but the scope of various aspects of thisdisclosure is not limited thereto. For example, other wireless LANtechnologies, PAN technologies, MAN technologies, etc., may be utilized.Such utilization may, for example, provide cost-effective ways to gathersubstantial amounts of urban data, and provide for the efficientoffloading of traffic from congested cellular networks (or othernetworks). In controlled areas (e.g., ports, harbors, etc.) with manyvehicles, a communication network in accordance with various aspects ofthis disclosure may expand the wireless coverage of existing enterpriseWi-Fi networks, for example providing for real-time communication withvehicle drivers (e.g., human, computer-controlled, etc.) and othermobile employees without the need for SIM cards or cellular (or othernetwork) data plans.

Vehicles may have many advantageous characteristics that make themuseful as Wi-Fi (or general wireless) hotspots. For example, vehiclesgenerally have at least one battery, vehicles are generally denselyspread over the city at street level and/or they are able to establishmany contacts with each other in a controlled space, and vehicles cancommunicate with 10× the range of normal Wi-Fi in the 5.9 GHz frequencyband, reserved for intelligent transportation systems in the EU, theU.S., and elsewhere. Note that the scope of this disclosure is notlimited to such 5.9 GHz wireless communication. Further, vehicles areable to effectively expand their coverage area into a swath over aperiod of time, enabling a single vehicle access point to interact withsubstantially more data sources over the period of time.

In accordance with various aspects of the present disclosure, anaffordable multi-network on-board unit (OBU) is presented. Note that theOBU may also be referred to herein as a mobile access point, Mobile AP,MAP, etc. The OBU may, for example, comprise a plurality of networkinginterfaces (e.g., Wi-Fi, 802.11p, 4G, Bluetooth, UWB, etc.). The OBUmay, for example, be readily installed in or on private and/or publicvehicles (e.g., individual user vehicles, vehicles of private fleets,vehicles of public fleets, etc.). The OBU may, for example, be installedin transportation fleets, waste management fleets, law enforcementfleets, emergency services, road maintenance fleets, taxi fleets,aircraft fleets, etc. The OBU may, for example, be installed in or on avehicle or other structure with free mobility or relatively limitedmobility. The OBU may also, for example, be carried by a person orservice animal, mounted to a bicycle, mounted to a moving machine ingeneral, mounted to a container, etc.

The OBUs may, for example, operate to connect passing vehicles to thewired infrastructure of one or more network providers, telecomoperators, etc. In accordance with the architecture, hardware, andsoftware functionality discussed herein, vehicles and fleets can beconnected not just to the cellular networks (or other wide area ormetropolitan area networks, etc.) and existing Wi-Fi hotspots spreadover a city or a controlled space, but also to other vehicles (e.g.,utilizing multi-hop communications to a wired infrastructure, single ormulti-hop peer-to-peer vehicle communication, etc.). The vehicles and/orfleets may, for example, form an overall mesh of communication links,for example including the OBUs and also fixed Access Points (APs)connected to the wired infrastructure (e.g., a local infrastructure,etc.). Note that OBUs herein may also be referred to as “Mobile APs,”“mobile hotspots,” “MAPs,” etc. Also note that fixed access points mayalso be referred to herein as Road Side Units (RSUs), Fixed APs, FAPs,etc.

In an example implementation, the OBUs may communicate with the FixedAPs utilizing a relatively long-range protocol (e.g., 802.11p, etc.),and the Fixed APs may, in turn, be hard wired to the wiredinfrastructure (e.g., via cable, tethered optical link, etc.). Note thatFixed APs may also, or alternatively, be coupled to the infrastructurevia wireless link (e.g., 802.11p, etc.). Additionally, clients or userdevices may communicate with the OBUs using one or more relativelyshort-range protocols (e.g., Wi-Fi, Bluetooth, UWB, etc.). The OBUs, forexample having a longer effective wireless communication range thantypical Wi-Fi access points or other wireless LAN/PAN access points(e.g., at least for links such as those based on 802.11p, etc.), arecapable of substantially greater coverage areas than typical Wi-Fi orother wireless LAN/PAN access points, and thus fewer OBUs are necessaryto provide blanket coverage over a geographical area.

The OBU may, for example, comprise a robust vehicular networking module(e.g., a connection manager) which builds on long-range communicationprotocol capability (e.g., 802.11p, etc.). For example, in addition tocomprising 802.11p (or other long-range protocol) capability tocommunicate with Fixed APs, vehicles, and other nodes in the network,the OBU may comprise a network interface (e.g., 802.11a/b/g/n, 802.11ac,802.11af, any combination thereof, etc.) to provide wireless local areanetwork (WLAN) connectivity to end user devices, sensors, fixed Wi-Fiaccess points, etc. For example, the OBU may operate to providein-vehicle Wi-Fi Internet access to users in and/or around the vehicle(e.g., a bus, train car, taxi cab, public works vehicle, etc.). The OBUmay further comprise one or more wireless backbone communicationinterfaces (e.g., cellular network interfaces, etc.). Though in variousexample scenarios, a cellular network interface (or other wirelessbackbone communication interface) might not be the preferred interfacefor various reasons (e.g., cost, power, bandwidth, etc.), the cellularnetwork interface may be utilized to provide connectivity ingeographical areas that are not presently supported by a Fixed AP, maybe utilized to provide a fail-over communication link, may be utilizedfor emergency communications, may be utilized to subscribe to localinfrastructure access, etc. The cellular network interface may also, forexample, be utilized to allow the deployment of solutions that aredependent on the cellular network operators.

An OBU, in accordance with various aspects of the present disclosure,may for example comprise a smart connection manager that can select thebest available wireless link(s) (e.g., Wi-Fi, 802.11p, cellular, vehiclemesh, etc.) with which to access the Internet. The OBU may also, forexample, provide geo-location capabilities (e.g., GPS, etc.), motiondetection sensors to determine if the vehicle is in motion, and a powercontrol subsystem (e.g., to ensure that the OBU does not deplete thevehicle battery, etc.). The OBU may, for example, comprise any or all ofthe sensors (e.g., environmental sensors, etc.) discussed herein.

The OBU may also, for example, comprise a manager that managesmachine-to-machine data acquisition and transfer (e.g., in a real-timeor delay-tolerant fashion) to and from the Cloud. For example, the OBUmay log and/or communicate information of the vehicles.

The OBU may, for example, comprise a connection and/or routing managerthat operates to perform routing of communications in avehicle-to-vehicle/vehicle-to-infrastructure multi-hop communication. Amobility manager (or controller, MC) may, for example, ensure thatcommunication sessions persist over one or more handoff(s) (alsoreferred to herein as a “handover” or “handovers”) (e.g., betweendifferent Mobile APs, Fixed APs, base stations, hot spots, etc.), amongdifferent technologies (e.g., 802.11p, cellular, Wi-Fi, satellite,etc.), among different MCs (e.g., in a fail-over scenario, loadredistribution scenario, etc.), across different interfaces (or ports),etc. Note that the MC may also be referred to herein as a Local MobilityAnchor (LMA), a Network Controller, etc. Note that the MC, or aplurality thereof, may for example be implemented as part of thebackbone, but may also, or alternatively, be implemented as part of anyof a variety of components or combinations thereof. For example, the MCmay be implemented in a Fixed AP (or distributed system thereof), aspart of an OBU (or a distributed system thereof), etc. Variousnon-limiting examples of system components and/or methods are providedin U.S. Provisional Application No. 62/222,098, filed Sep. 22, 2015, andtitled “Systems and Method for Managing Mobility in a Network of MovingThings,” the entire contents of which are hereby incorporated herein byreference. Note that in an example implementation including a pluralityof MCs, such MCs may be co-located and/or may be geographicallydistributed.

Various aspects of the present disclosure also provide a Cloud-basedservice-oriented architecture that handles the real-time management,monitoring and reporting of the network and clients, the functionalitiesrequired for data storage, processing and management, the Wi-Fi clientauthentication and Captive Portal display, etc.

A communication network (or component thereof) in accordance withvarious aspects of the present disclosure may, for example, support awide range of smart city applications (or controlled scenarios, orconnected scenarios, etc.) and/or use-cases, as described herein.

For example, an example implementation may operate to turn each vehicle(e.g., both public and private taxis, buses, trucks, etc.) into a MobileAP (e.g., a mobile Wi-Fi hotspot), offering Internet access toemployees, passengers and mobile users travelling in the city, waitingin bus stops, sitting in parks, etc. Moreover, through an examplevehicular mesh network formed between vehicles and/or fleets ofvehicles, an implementation may be operable to offload cellular trafficthrough the mobile Wi-Fi hotspots and/or Fixed APs (e.g., 802.11p-basedAPs) spread over the city and connected to the wired infrastructure ofpublic or private telecom operators in strategic places, while ensuringthe widest possible coverage at the lowest possible cost.

An example implementation (e.g., of a communication network and/orcomponents thereof) may, for example, be operable as a massive urbanscanner that gathers large amounts of data (e.g., continuously)on-the-move, actionable or not, generated by a myriad of sourcesspanning from the in-vehicle sensors or On Board Diagnostic System port(e.g., OBD2, etc.), interface with an autonomous vehicle driving system,external Wi-Fi/Bluetooth-enabled sensing units spread over the city,devices of vehicles' drivers and passengers (e.g., informationcharacterizing such devices and/or passengers, etc.), positioning systemdevices (e.g., position information, velocity information, trajectoryinformation, travel history information, etc.), etc.

Depending on the use case, the OBU may for example process (or computer,transform, manipulate, aggregate, summarize, etc.) the data beforesending the data from the vehicle, for example providing the appropriategranularity (e.g., value resolution) and sampling rates (e.g., temporalresolution) for each individual application. For example, the OBU may,for example, process the data in any manner deemed advantageous by thesystem. The OBU may, for example, send the collected data (e.g., rawdata, preprocessed data, information of metrics calculated based on thecollected data, etc.) to the Cloud (e.g., to one or more networkedservers coupled to any portion of the network) in an efficient andreliable manner to improve the efficiency, environmental impact andsocial value of municipal city operations and transportation services.Various example use cases are described herein.

In an example scenario in which public buses are moving along cityroutes and/or taxis are performing their private transportationservices, the OBU is able to collect large quantities of real-time datafrom the positioning systems (e.g., GPS, etc.), from accelerometermodules, etc. The OBU may then, for example, communicate such data tothe Cloud, where the data may be processed, reported and viewed, forexample to support such public or private bus and/or taxi operations,for example supporting efficient remote monitoring and scheduling ofbuses and taxis, respectively.

In an example implementation, small cameras (or other sensors) may becoupled to small single-board computers (SBCs) that are placed above thedoors of public buses to allow capturing image sequences of peopleentering and leaving buses, and/or on stops along the bus routes inorder to estimate the number of people waiting for a bus. Such data maybe gathered by the OBU in order to be sent to the Cloud. With such data,public transportation systems may detect peaks; overcrowded buses,routes and stops; underutilized buses, routes and stops; etc., enablingaction to be taken in real-time (e.g., reducing bus periodicity todecrease fuel costs and CO₂ emissions where and when passenger flows aresmaller, etc.) as well as detecting systematic transportation problems.

An OBU may, for example, be operable to communicate with any of avariety of Wi-Fi-enabled sensor devices equipped with a heterogeneouscollection of environmental sensors. Such sensors may, for example,comprise noise sensors (microphones, etc.), gas sensors (e.g., sensingCO, NO₂, O₃, volatile organic compounds (or VOCs), CO₂, etc.), smokesensors, pollution sensors, meteorological sensors (e.g., sensingtemperature, humidity, luminosity, particles, solar radiation, windspeed (e.g., anemometer), wind direction, rain (e.g., a pluviometer),optical scanners, biometric scanners, cameras, microphones, etc.). Suchsensors may also comprise sensors associated with users (e.g., vehicleoperators or passengers, passersby, etc.) and/or their personal devices(e.g., smart phones or watches, biometrics sensors, wearable sensors,implanted sensors, etc.). Such sensors may, for example, comprisesensors and/or systems associated with on-board diagnostic (OBD) unitsfor vehicles, autonomous vehicle driving systems, etc. Such sensors may,for example, comprise positioning sensors (e.g., GPS sensors, Galileosensors, GLONASS sensors, etc.). Note that such positioning sensors maybe part of a vehicle's operational system (e.g., a localhuman-controlled vehicle, an autonomous vehicle, a remotehuman-controlled vehicle, etc.) Such sensors may, for example, comprisecontainer sensors (e.g., garbage can sensors, shipping containersensors, container environmental sensors, container tracking sensors,etc.).

Once a vehicle enters the vicinity of such a sensor device, a wirelesslink may be established, so that the vehicle (or OBU thereof) cancollect sensor data from the sensor device and upload the collected datato a database in the Cloud. The appropriate action can then be taken. Inan example waste management implementation, several waste management (orcollection) trucks may be equipped with OBUs that are able toperiodically communicate with sensors installed on containers in orderto gather information about waste level, time passed since lastcollection, etc. Such information may then sent to the Cloud (e.g., to awaste management application coupled to the Internet, etc.) through thevehicular mesh network, in order to improve the scheduling and/orrouting of waste management trucks. Note that various sensors may alwaysbe in range of the Mobile AP (e.g., vehicle-mounted sensors). Note thatthe sensor may also (or alternatively) be mobile (e.g., a sensor mountedto another vehicle passing by a Mobile AP or Fixed AP, a drone-mountedsensor, a pedestrian-mounted sensor, etc.).

In an example implementation, for example in a controlled space (e.g., aport, harbor, airport, factory, plantation, mine, etc.) with manyvehicles, machines and employees, a communication network in accordancewith various aspects of the present disclosure may expand the wirelesscoverage of enterprise and/or local Wi-Fi networks, for example withoutresorting to a Telco-dependent solution based on SIM cards or cellularfees. In such an example scenario, apart from avoiding expensivecellular data plans, limited data rate and poor cellular coverage insome places, a communication network in accordance with various aspectsof the present disclosure is also able to collect and/or communicatelarge amounts of data, in a reliable and real-time manner, where suchdata may be used to optimize harbor logistics, transportationoperations, etc.

For example in a port and/or harbor implementation, by gatheringreal-time information on the position, speed, fuel consumption and CO₂emissions of the vehicles, the communication network allows a portoperator to improve the coordination of the ship loading processes andincrease the throughput of the harbor. Also for example, thecommunication network enables remote monitoring of drivers' behaviors,behaviors of autonomous vehicles and/or control systems thereof, trucks'positions and engines' status, and then be able to provide real-timenotifications to drivers (e.g., to turn on/off the engine, follow theright route inside the harbor, take a break, etc.), for example humandrivers and/or automated vehicle driving systems, thus reducing thenumber and duration of the harbor services and trips. Harbor authoritiesmay, for example, quickly detect malfunctioning trucks and abnormaltrucks' circulation, thus avoiding accidents in order to increase harborefficiency, security, and safety. Additionally, the vehicles can alsoconnect to Wi-Fi access points from harbor local operators, and provideWi-Fi Internet access to vehicles' occupants and surrounding harboremployees, for example allowing pilots to save time by filing reportsvia the Internet while still on the water.

FIG. 1 shows a block diagram of a communication network 100, inaccordance with various aspects of this disclosure. Any or all of thefunctionality discussed herein may be performed by any or all of theexample components of the example network 100. Also, the example network100 may, for example, share any or all characteristics with the otherexample methods, networks and/or network components 200, 300, 400,500-570, 600, 700, 800, 900, 1000, 1100, 1200, 1300, and 1400, discussedherein.

The example network 100, for example, comprises a Cloud that may, forexample comprise any of a variety of network level components. The Cloudmay, for example, comprise any of a variety of server systems executingapplications that monitor and/or control components of the network 100.Such applications may also, for example, manage the collection ofinformation from any of a large array of networked information sources,many examples of which are discussed herein. The Cloud (or a portionthereof) may also be referred to, at times, as an API. For example,Cloud (or a portion thereof) may provide one or more applicationprogramming interfaces (APIs) which other devices may use forcommunicating/interacting with the Cloud.

An example component of the Cloud may, for example, manageinteroperability with various multi-Cloud systems and architectures.Another example component (e.g., a Cloud service component) may, forexample, provide various Cloud services (e.g., captive portal services,authentication, authorization, and accounting (AAA) services, APIGateway services, etc.). An additional example component (e.g., aDevCenter component) may, for example, provide network monitoring and/ormanagement functionality, manage the implementation of software updates,etc. A further example component of the Cloud may manage data storage,data analytics, data access, etc. A still further example component ofthe Cloud may include any of a variety of third-partly applications andservices.

The Cloud may, for example, be coupled to the Backbone/CoreInfrastructure of the example network 100 via the Internet (e.g.,utilizing one or more Internet Service Providers). Though the Internetis provided by example, it should be understood that scope of thepresent disclosure is not limited thereto.

The Backbone/Core may, for example, comprise any one or more differentcommunication infrastructure components. For example, one or moreproviders may provide backbone networks or various components thereof.As shown in the example network 100 illustrated in FIG. 1, a Backboneprovider may provide wireline access (e.g., PSTN, fiber, cable, etc.).Also for example, a Backbone provider may provide wireless access (e.g.,Microwave, LTE/Cellular, 5G/TV Spectrum, etc.).

The Backbone/Core may also, for example, comprise one or more LocalInfrastructure Providers. The Backbone/Core may also, for example,comprise a private infrastructure (e.g., run by the network 100implementer, owner, etc.). The Backbone/Core may, for example, provideany of a variety of Backbone Services (e.g., AAA, Mobility, Monitoring,Addressing, Routing, Content services, Gateway Control services, etc.).

The Backbone/Core Infrastructure may comprise any of a variety ofcharacteristics, non-limiting examples of which are provided herein. Forexample, the Backbone/Core may be compatible with different wireless orwired technologies for backbone access. The Backbone/Core may also beadaptable to handle public (e.g., municipal, city, campus, etc.) and/orprivate (e.g., ports, campus, etc.) network infrastructures owned bydifferent local providers, and/or owned by the network implementer orstakeholder. The Backbone/Core may, for example, comprise and/orinterface with different Authentication, Authorization, and Accounting(AAA) mechanisms.

The Backbone/Core Infrastructure may, for example, support differentmodes of operation (e.g., L2 in port implementations, L3 in on-landpublic transportation implementations, utilizing any one or more of aplurality of different layers of digital IP networking, any combinationsthereof, equivalents thereof, etc.) or addressing pools. TheBackbone/Core may also for example, be agnostic to the Cloud provider(s)and/or Internet Service Provider(s). Additionally for example, theBackbone/Core may be agnostic to requests coming from any or allsubsystems of the network 100 (e.g., Mobile APs or OBUs (On BoardUnits), Fixed APs or RSUs (Road Side Units), MCs (Mobility Controllers)or LMAs (Local Mobility Anchors) or Network Controllers, etc.) and/orthird-party systems.

The Backbone/Core Infrastructure may, for example, comprise the abilityto utilize and/or interface with different data storage/processingsystems (e.g., MongoDB, MySql, Redis, etc.). The Backbone/CoreInfrastructure may further, for example, provide different levels ofsimultaneous access to the infrastructure, services, data, etc.

The example network 100 may also, for example, comprise a Fixed HotspotAccess Network. Various example characteristics of such a Fixed HotspotAccess Network 200 are shown at FIG. 2. The example network 200 may, forexample, share any or all characteristics with the other examplemethods, networks and/or network components 100, 300, 400, 500-570, 600,700, 800, 900, 1000, 1100, 1200, 1300, and 1400, discussed herein.

In the example network 200, the Fixed APs (e.g., the proprietary APs,the public third party APs, the private third party APs, etc.) may bedirectly connected to the local infrastructure provider and/or to thewireline/wireless backbone. Also for example, the example network 200may comprise a mesh between the various APs via wireless technologies.Note, however, that various wired technologies may also be utilizeddepending on the implementation. As shown, different fixed hotspotaccess networks can be connected to a same backbone provider, but mayalso be connected to different respective backbone providers. In anexample implementation utilizing wireless technology for backboneaccess, such an implementation may be relatively fault tolerant. Forexample, a Fixed AP may utilize wireless communications to the backbonenetwork (e.g., cellular, 3G, LTE, other wide or metropolitan areanetworks, etc.) if the backhaul infrastructure is down. Also forexample, such an implementation may provide for relatively easyinstallation (e.g., a Fixed AP with no cable power source that can beplaced virtually anywhere).

In the example network 200, the same Fixed AP can simultaneously provideaccess to multiple Fixed APs, Mobile APs (e.g., vehicle OBUs, etc.),devices, user devices, sensors, things, etc. For example, a plurality ofmobile hotspot access networks (e.g., OBU-based networks, etc.) mayutilize the same Fixed AP. Also for example, the same Fixed AP canprovide a plurality of simultaneous accesses to another single unit(e.g., another Fixed AP, Mobile AP, device, etc.), for example utilizingdifferent channels, different radios, etc.).

Note that a plurality of Fixed APs may be utilized forfault-tolerance/fail-recovery purposes. In an example implementation, aFixed AP and its fail-over AP may both be normally operational (e.g., ina same switch). Also for example, one or more Fixed APs may be placed inthe network at various locations in an inactive or monitoring mode, andready to become operational when needed (e.g., in response to a fault,in response to an emergency services need, in response to a data surge,etc.).

Referring back to FIG. 1, the example Fixed Hotspot Access Network isshown with a wireless communication link to a backbone provider (e.g.,to one or more Backbone Providers and/or Local InfrastructureProviders), to a Mobile Hotspot Access Network, to one or more End UserDevices, and to the Environment. Also, the example Fixed Hotspot AccessNetwork is shown with a wired communication link to one or more BackboneProviders, to the Mobile Hotspot Access Network, to one or more End UserDevices, and to the Environment. The Environment may comprise any of avariety of devices (e.g., in-vehicle networks, devices, and sensors;autonomous vehicle networks, devices, and sensors; maritime (orwatercraft) and port networks, devices, and sensors; generalcontrolled-space networks, devices, and sensors; residential networks,devices, and sensors; disaster recovery & emergency networks, devices,and sensors; military and aircraft networks, devices, and sensors; smartcity networks, devices, and sensors; event (or venue) networks, devices,and sensors; underwater and underground networks, devices, and sensors;agricultural networks, devices, and sensors; tunnel (auto, subway,train, etc.) networks, devices, and sensors; parking networks, devices,and sensors; security and surveillance networks, devices, and sensors;shipping equipment and container networks, devices, and sensors;environmental control or monitoring networks, devices, and sensors;municipal networks, devices, and sensors; waste management networks,devices, and sensors, road maintenance networks, devices, and sensors,traffic management networks, devices, and sensors; advertising networks,devices and sensors; etc.).

The example network 100 of FIG. 1 also comprises a Mobile Hotspot AccessNetwork. Various example characteristics of such a Mobile Hotspot AccessNetwork 300 are shown at FIG. 3. Note that various fixed networkcomponents (e.g., Fixed APs) are also illustrated. The example network300 may, for example, share any or all characteristics with the otherexample methods, networks and/or network components 100, 200, 400,500-570, 600, 700, 800, 900, 1000, 1100, 1200, 1300, and 1400, discussedherein.

The example network 300 comprises a wide variety of Mobile APs (orhotspots) that provide access to user devices, provide for sensor datacollection, provide multi-hop connectivity to other Mobile APs, etc. Forexample, the example network 300 comprises vehicles from differentfleets (e.g., aerial, terrestrial, underground, (under)water, etc.). Forexample, the example network 300 comprises one or more massdistribution/transportation fleets, one or more mass passengertransportation fleets, private/public shared-user fleets, privatevehicles, urban and municipal fleets, maintenance fleets, drones,watercraft (e.g., boats, ships, speedboats, tugboats, barges, etc.),emergency fleets (e.g., police, ambulance, firefighter, etc.), etc.

The example network 300, for example, shows vehicles from differentfleets directly connected and/or mesh connected, for example using sameor different communication technologies. The example network 300 alsoshows fleets simultaneously connected to different Fixed APs, which mayor may not belong to different respective local infrastructureproviders. As a fault-tolerance mechanism, the example network 300 mayfor example comprise the utilization of long-range wirelesscommunication network (e.g., cellular, 3G, 4G, LTE, etc.) in vehicles ifthe local network infrastructure is down or otherwise unavailable. Asame vehicle (e.g., Mobile AP or OBU) can simultaneously provide accessto multiple vehicles, devices, things, etc., for example using a samecommunication technology (e.g., shared channels and/or differentrespective channels thereof) and/or using a different respectivecommunication technology for each. Also for example, a same vehicle canprovide multiple accesses to another vehicle, device, thing, etc., forexample using a same communication technology (e.g., shared channelsand/or different respective channels thereof, and/or using a differentcommunication technology).

Additionally, multiple network elements may be connected together toprovide for fault-tolerance or fail recovery, increased throughput, orto achieve any or a variety of a client's networking needs, many ofexamples of which are provided herein. For example, two Mobile APs (orOBUs) may be installed in a same vehicle, etc.

Referring back to FIG. 1, the example Mobile Hotspot Access Network isshown with a wireless communication link to a backbone provider (e.g.,to one or more Backbone Providers and/or Local InfrastructureProviders), to a Fixed Hotspot Access Network, to one or more End UserDevice, and to the Environment (e.g., to any one of more of the sensorsor systems discussed herein, any other device or machine, etc.). Thoughthe Mobile Hotspot Access Network is not shown having a wired link tothe various other components, there may (at least at times) be such awired link, at least temporarily.

The example network 100 of FIG. 1 also comprises a set of End-UserDevices. Various example end user devices are shown at FIG. 4. Note thatvarious other network components (e.g., Fixed Hotspot Access Networks,Mobile Hotspot Access Network(s), the Backbone/Core, etc.) are alsoillustrated. The example network 400 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 500-570, 600, 700, 800, 900, 1000, 1100, 1200,1300, and 1400, discussed herein.

The example network 400 shows various mobile networked devices. Suchnetwork devices may comprise end-user devices (e.g., smartphones,tablets, smartwatches, laptop computers, webcams, personal gamingdevices, personal navigation devices, personal media devices, personalcameras, health-monitoring devices, personal location devices,monitoring panels, printers, etc.). Such networked devices may alsocomprise any of a variety of devices operating in the generalenvironment, where such devices might not for example be associated witha particular user (e.g. any or all of the sensor devices discussedherein, vehicle sensors, municipal sensors, fleet sensors road sensors,environmental sensors, security sensors, traffic sensors, waste sensors,meteorological sensors, any of a variety of different types of municipalor enterprise equipment, etc.). Any of such networked devices can beflexibly connected to distinct backbone, fixed hotspot access networks,mobile hotspot access networks, etc., using the same or differentwired/wireless technologies.

A mobile device may, for example, operate as an AP to providesimultaneous access to multiple devices/things, which may then form adhoc networks, interconnecting devices ultimately connected to distinctbackbone networks, fixed hotspot, and/or mobile hotspot access networks.Devices (e.g., any or all of the devices or network nodes discussedherein) may, for example, have redundant technologies to access distinctbackbone, fixed hotspot, and/or mobile hotspot access networks, forexample for fault-tolerance and/or load-balancing purposes (e.g.,utilizing multiple SIM cards, etc.). A device may also, for example,simultaneously access distinct backbone, fixed hotspot access networks,and/or mobile hotspot access networks, belonging to the same provider orto different respective providers. Additionally for example, a devicecan provide multiple accesses to another device/thing (e.g., viadifferent channels, radios, etc.).

Referring back to FIG. 1, the example End-User Devices are shown with awireless communication link to a backbone provider (e.g., to one or moreBackbone Providers and/or Local Infrastructure Providers), to a FixedHotspot Access Network, to a Mobile Hotspot Access Network, and to theEnvironment. Also for example, the example End-User Devices are shownwith a wired communication link to a backbone provider, to a FixedHotspot Access Network, to a Mobile Hotspot Access Network, and to theEnvironment.

The example network 100 illustrated in FIG. 1 has a flexiblearchitecture that is adaptable at implementation time (e.g., fordifferent use cases) and/or adaptable in real-time, for example asnetwork components enter and leave service. FIGS. 5A-5C illustrate suchflexibility by providing example modes (or configurations). The examplenetworks 500-570 may, for example, share any or all characteristics withthe other example methods, networks and/or network components 100, 200,300, 400, 600, 700, 800, 900, 1000, 1100, 1200, 1300, and 1400,discussed herein. For example and without limitation, any or all of thecommunication links (e.g., wired links, wireless links, etc.) shown inthe example networks 500-570 are generally analogous to similarlypositioned communication links shown in the example network 100 of FIG.1.

For example, various aspects of this disclosure provide communicationnetwork architectures, systems, and methods for supporting a dynamicallyconfigurable communication network comprising a complex array of bothstatic and moving communication nodes (e.g., the Internet of movingthings). For example, a communication network implemented in accordancewith various aspects of the present disclosure may operate in one of aplurality of modalities comprising various fixed nodes, mobile nodes,and/or a combination thereof, which are selectable to yield any of avariety of system goals (e.g., increased throughput, reduced latency andpacket loss, increased availability and robustness of the system, extraredundancy, increased responsiveness, increased security in thetransmission of data and/or control packets, reduced number ofconfiguration changes by incorporating smart thresholds (e.g., change oftechnology, change of certificate, change of IP, etc.), providingconnectivity in dead zones or zones with difficult access, reducing thecosts for maintenance and accessing the equipment forupdating/upgrading, etc.). At least some of such modalities may, forexample, be entirely comprised of fixed-position nodes, at leasttemporarily if not permanently.

For illustrative simplicity, many of the example aspects shown in theexample system or network 100 of FIG. 1 (and other Figures herein) areomitted from FIGS. 5A-5C, but may be present. For example, the Cloud,Internet, and ISP aspects shown in FIG. 1 and in other Figures are notexplicitly shown in FIGS. 5A-5C, but may be present in any of theexample configurations (e.g., as part of the backbone provider networkor coupled thereto, as part of the local infrastructure provider networkor coupled thereto, etc.).

For example, the first example mode 500 is presented as a normalexecution mode, for example a mode (or configuration) in which all ofthe components discussed herein are present. For example, thecommunication system in the first example mode 500 comprises a backboneprovider network, a local infrastructure provider network, a fixedhotspot access network, a mobile hotspot access network, end-userdevices, and environment devices.

As shown in FIG. 5A, and in FIG. 1 in more detail, the backbone providernetwork may be communicatively coupled to any or all of the otherelements present in the first example mode 500 (or configuration) viaone or more wired (or tethered) links. For example, the backboneprovider network may be communicatively coupled to the localinfrastructure provider network (or any component thereof), fixedhotspot access network (or any component thereof), the end-user devices,and/or environment devices via a wired link. Note that such a wiredcoupling may be temporary. Also note that in various exampleconfigurations, the backbone provider network may also, at leasttemporarily, be communicatively coupled to the mobile hotspot accessnetwork (or any component thereof) via one or more wired (or tethered)links.

Also shown in FIG. 5A, and in FIG. 1 in more detail, the backboneprovider network may be communicatively coupled to any or all of theother elements present in the first example mode 500 (or configuration)via one or more wireless links (e.g., RF link, non-tethered opticallink, etc.). For example, the backbone provider network may becommunicatively coupled to the fixed hotspot access network (or anycomponent thereof), the mobile hotspot access network (or any componentthereof), the end-user devices, and/or environment devices via one ormore wireless links. Also note that in various example configurations,the backbone provider network may also be communicatively coupled to thelocal infrastructure provider network via one or more wireless (ornon-tethered) links.

Though not shown in the first example mode 500 (or any of the examplemodes of FIGS. 5A-5C), one or more servers may be communicativelycoupled to the backbone provider network and/or the local infrastructurenetwork. FIG. 1 provides an example of Cloud servers beingcommunicatively coupled to the backbone provider network via theInternet.

As additionally shown in FIG. 5A, and in FIG. 1 in more detail, thelocal infrastructure provider network may be communicatively coupled toany or all of the other elements present in the first example mode 500(or configuration) via one or more wired (or tethered) links. Forexample, the local infrastructure provider network may becommunicatively coupled to the backbone provider network (or anycomponent thereof), fixed hotspot access network (or any componentthereof), the end-user devices, and/or environment devices via one ormore wired links. Note that such a wired coupling may be temporary. Alsonote that in various example configurations, the local infrastructureprovider network may also, at least temporarily, be communicativelycoupled to the mobile hotspot access network (or any component thereof)via one or more wired (or tethered) links.

Also, though not explicitly shown, the local infrastructure providernetwork may be communicatively coupled to any or all of the otherelements present in the first example mode 500 (or configuration) viaone or more wireless links (e.g., RF link, non-tethered optical link,etc.). For example, the local infrastructure provider network may becommunicatively coupled to the backbone provider network (or anycomponent thereof), the fixed hotspot access network (or any componentthereof), the mobile hotspot access network (or any component thereof),the end-user devices, and/or environment devices via one or morewireless links. Note that the communication link shown in the firstexample mode 500 of FIG. 5A between the local infrastructure providernetwork and the fixed hotspot access network may be wired and/orwireless.

The fixed hotspot access network is also shown in the first example mode500 to be communicatively coupled to the mobile hotspot access network,the end-user devices, and/or environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein. Additionally, the mobile hotspot access network is further shownin the first example mode 500 to be communicatively coupled to theend-user devices and/or environment devices via one or more wirelesslinks. Many examples of such wireless coupling are provided herein.Further, the end-user devices are also shown in the first example mode500 to be communicatively coupled to the environment devices via one ormore wireless links. Many examples of such wireless coupling areprovided herein. Note that in various example implementations any ofsuch wireless links may instead (or in addition) comprise a wired (ortethered) link.

In the first example mode 500 (e.g., the normal mode), information (ordata) may be communicated between an end-user device and a server (e.g.,a computer system) via the mobile hotspot access network, the fixedhotspot access network, the local infrastructure provider network,and/or the backbone provider network. As will be seen in the variousexample modes presented herein, such communication may flexibly occurbetween an end-user device and a server via any of a variety ofdifferent communication pathways, for example depending on theavailability of a network, depending on bandwidth utilization goals,depending on communication priority, depending on communication time (orlatency) and/or reliability constraints, depending on cost, etc. Forexample, information communicated between an end user device and aserver may be communicated via the fixed hotspot access network, thelocal infrastructure provider network, and/or the backbone providernetwork (e.g., skipping the mobile hotspot access network). Also forexample, information communicated between an end user device and aserver may be communicated via the backbone provider network (e.g.,skipping the mobile hotspot access network, fixed hotspot accessnetwork, and/or local infrastructure provider network).

Similarly, in the first example mode 500 (e.g., the normal mode),information (or data) may be communicated between an environment deviceand a server via the mobile hotspot access network, the fixed hotspotaccess network, the local infrastructure provider network, and/or thebackbone provider network. Also for example, an environment device maycommunicate with or through an end-user device (e.g., instead of or inaddition to the mobile hotspot access network). As will be seen in thevarious example modes presented herein, such communication may flexiblyoccur between an environment device and a server (e.g., communicativelycoupled to the local infrastructure provider network and/or backboneprovider network) via any of a variety of different communicationpathways, for example depending on the availability of a network,depending on bandwidth utilization goals, depending on communicationpriority, depending on communication time (or latency) and/orreliability constraints, depending on cost, etc.

For example, information communicated between an environment device anda server may be communicated via the fixed hotspot access network, thelocal infrastructure provider network, and/or the backbone providernetwork (e.g., skipping the mobile hotspot access network). Also forexample, information communicated between an environment device and aserver may be communicated via the backbone provider network (e.g.,skipping the mobile hotspot access network, fixed hotspot accessnetwork, and/or local infrastructure provider network). Additionally forexample, information communicated between an environment device and aserver may be communicated via the local infrastructure provider network(e.g., skipping the mobile hotspot access network and/or fixed hotspotaccess network).

As discussed herein, the example networks presented herein areadaptively configurable to operate in any of a variety of differentmodes (or configurations). Such adaptive configuration may occur atinitial installation and/or during subsequent controlled networkevolution (e.g., adding or removing any or all of the network componentsdiscussed herein, expanding or removing network capacity, adding orremoving coverage areas, adding or removing services, etc.). Suchadaptive configuration may also occur in real-time, for example inresponse to real-time changes in network conditions (e.g., networks orcomponents thereof being available or not based on vehicle oruser-device movement, network or component failure, network or componentreplacement or augmentation activity, network overloading, etc.). Thefollowing example modes are presented to illustrate characteristics ofvarious modes in which a communication system may operate in accordancewith various aspects of the present disclosure. The following examplemodes will generally be discussed in relation to the first example mode500 (e.g., the normal execution mode). Note that such example modes aremerely illustrative and not limiting.

The second example mode (or configuration) 510 (e.g., a no backboneavailable mode) may, for example, share any or all characteristics withthe first example mode 500, albeit without the backbone provider networkand communication links therewith. For example, the communication systemin the second example mode 510 comprises a local infrastructure providernetwork, a fixed hotspot access network, a mobile hotspot accessnetwork, end-user devices, and environment devices.

As shown in FIG. 5A, and in FIG. 1 in more detail, the localinfrastructure provider network may be communicatively coupled to any orall of the other elements present in the second example mode 510 (orconfiguration) via one or more wired (or tethered) links. For example,the local infrastructure provider network may be communicatively coupledto the fixed hotspot access network (or any component thereof), theend-user devices, and/or environment devices via one or more wiredlinks. Note that such a wired coupling may be temporary. Also note thatin various example configurations, the local infrastructure providernetwork may also, at least temporarily, be communicatively coupled tothe mobile hotspot access network (or any component thereof) via one ormore wired (or tethered) links.

Also, though not explicitly shown, the local infrastructure providernetwork may be communicatively coupled to any or all of the otherelements present in the second example mode 510 (or configuration) viaone or more wireless links (e.g., RF link, non-tethered optical link,etc.). For example, the local infrastructure provider network may becommunicatively coupled to the fixed hotspot access network (or anycomponent thereof), the mobile hotspot access network (or any componentthereof), the end-user devices, and/or environment devices via one ormore wireless links. Note that the communication link(s) shown in thesecond example mode 510 of FIG. 5A between the local infrastructureprovider network and the fixed hotspot access network may be wiredand/or wireless.

The fixed hotspot access network is also shown in the second examplemode 510 to be communicatively coupled to the mobile hotspot accessnetwork, the end-user devices, and/or environment devices via one ormore wireless links. Many examples of such wireless coupling areprovided herein. Additionally, the mobile hotspot access network isfurther shown in the second example mode 510 to be communicativelycoupled to the end-user devices and/or environment devices via one ormore wireless links. Many examples of such wireless coupling areprovided herein. Further, the end-user devices are also shown in thesecond example mode 510 to be communicatively coupled to the environmentdevices via one or more wireless links. Many examples of such wirelesscoupling are provided herein. Note that in various exampleimplementations any of such wireless links may instead (or in addition)comprise a wired (or tethered) link.

In the second example mode 510 (e.g., the no backbone available mode),information (or data) may be communicated between an end-user device anda server (e.g., a computer, etc.) via the mobile hotspot access network,the fixed hotspot access network, and/or the local infrastructureprovider network. As will be seen in the various example modes presentedherein, such communication may flexibly occur between an end-user deviceand a server via any of a variety of different communication pathways,for example depending on the availability of a network, depending onbandwidth utilization goals, depending on communication priority,depending on communication time (or latency) and/or reliabilityconstraints, depending on cost, etc. For example, informationcommunicated between an end user device and a server may be communicatedvia the fixed hotspot access network and/or the local infrastructureprovider network (e.g., skipping the mobile hotspot access network).Also for example, information communicated between an end user deviceand a server may be communicated via the local infrastructure providernetwork (e.g., skipping the mobile hotspot access network and/or fixedhotspot access network).

Similarly, in the second example mode 510 (e.g., the no backboneavailable mode), information (or data) may be communicated between anenvironment device and a server via the mobile hotspot access network,the fixed hotspot access network, and/or the local infrastructureprovider network. Also for example, an environment device maycommunicate with or through an end-user device (e.g., instead of or inaddition to the mobile hotspot access network). As will be seen in thevarious example modes presented herein, such communication may flexiblyoccur between an environment device and a server (e.g., communicativelycoupled to the local infrastructure provider network) via any of avariety of different communication pathways, for example depending onthe availability of a network, depending on bandwidth utilization goals,depending on communication priority, depending on communication time (orlatency) and/or reliability constraints, depending on cost, etc.

For example, information communicated between an environment device anda server may be communicated via the fixed hotspot access network and/orthe local infrastructure provider network (e.g., skipping the mobilehotspot access network). Also for example, information communicatedbetween an environment device and a server may be communicated via thelocal infrastructure provider network (e.g., skipping the mobile hotspotaccess network and/or fixed hotspot access network).

The second example mode 510 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. Forexample, due to security and/or privacy goals, the second example mode510 may be utilized so that communication access to the public Cloudsystems, the Internet in general, etc., is not allowed. For example, allnetwork control and management functions may be within the localinfrastructure provider network (e.g., wired local network, etc.) and/orthe fixed access point network.

In an example implementation, the communication system might be totallyowned, operated and/or controlled by a local port authority. No extraexpenses associated with cellular connections need be spent. Forexample, cellular connection capability (e.g., in Mobile APs, Fixed APs,end user devices, environment devices, etc.) need not be provided. Notealso that the second example mode 510 may be utilized in a scenario inwhich the backbone provider network is normally available but iscurrently unavailable (e.g., due to server failure, due to communicationlink failure, due to power outage, due to a temporary denial of service,etc.).

The third example mode (or configuration) 520 (e.g., a no localinfrastructure and fixed hotspots available mode) may, for example,share any or all characteristics with the first example mode 500, albeitwithout the local infrastructure provider network, the fixed hotspotaccess network, and communication links therewith. For example, thecommunication system in the third example mode 520 comprises a backboneprovider network, a mobile hotspot access network, end-user devices, andenvironment devices.

As shown in FIG. 5A, and in FIG. 1 in more detail, the backbone providernetwork may be communicatively coupled to any or all of the otherelements present in the third example mode 520 (or configuration) viaone or more wired (or tethered) links. For example, the backboneprovider network may be communicatively coupled to the end-user devicesand/or environment devices via one or more wired links. Note that such awired coupling may be temporary. Also note that in various exampleconfigurations, the backbone provider network may also, at leasttemporarily, be communicatively coupled to the mobile hotspot accessnetwork (or any component thereof) via one or more wired (or tethered)links.

Also shown in FIG. 5A, and in FIG. 1 in more detail, the backboneprovider network may be communicatively coupled to any or all of theother elements present in the third example mode 520 (or configuration)via one or more wireless links (e.g., RF link, non-tethered opticallink, etc.). For example, the backbone provider network may becommunicatively coupled to the mobile hotspot access network (or anycomponent thereof), the end-user devices, and/or environment devices viaone or more wireless links.

The mobile hotspot access network is further shown in the third examplemode 520 to be communicatively coupled to the end-user devices and/orenvironment devices via one or more wireless links. Many examples ofsuch wireless coupling are provided herein. Further, the end-userdevices are also shown in the third example mode 520 to becommunicatively coupled to the environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein. Note that in various example implementations any of suchwireless links may instead (or in addition) comprise a wired (ortethered) link.

In the third example mode 520 (e.g., the no local infrastructure andfixed hotspots available mode), information (or data) may becommunicated between an end-user device and a server (e.g., a computer,etc.) via the mobile hotspot access network and/or the backbone providernetwork. As will be seen in the various example modes presented herein,such communication may flexibly occur between an end-user device and aserver via any of a variety of different communication pathways, forexample depending on the availability of a network, depending onbandwidth utilization goals, depending on communication priority,depending on communication time (or latency) and/or reliabilityconstraints, depending on cost, etc. For example, informationcommunicated between an end user device and a server may be communicatedvia the backbone provider network (e.g., skipping the mobile hotspotaccess network).

Similarly, in the third example mode 520 (e.g., the no localinfrastructure and fixed hotspots available mode), information (or data)may be communicated between an environment device and a server via themobile hotspot access network and/or the backbone provider network. Alsofor example, an environment device may communicate with or through anend-user device (e.g., instead of or in addition to the mobile hotspotaccess network). As will be seen in the various example modes presentedherein, such communication may flexibly occur between an environmentdevice and a server (e.g., communicatively coupled to the backboneprovider network) via any of a variety of different communicationpathways, for example depending on the availability of a network,depending on bandwidth utilization goals, depending on communicationpriority, depending on communication time (or latency) and/orreliability constraints, depending on cost, etc. For example,information communicated between an environment device and a server maybe communicated via the backbone provider network (e.g., skipping themobile hotspot access network).

In the third example mode 520, all control/management functions may forexample be implemented within the Cloud. For example, since the mobilehotspot access network does not have a communication link via a fixedhotspot access network, the Mobile APs may utilize a direct connection(e.g., a cellular connection) with the backbone provider network (orCloud). If a Mobile AP does not have such capability, the Mobile AP mayalso, for example, utilize data access provided by the end-user devicescommunicatively coupled thereto (e.g., leveraging the data plans of theend-user devices).

The third example mode 520 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample implementation, the third example mode 520 may be utilized in anearly stage of a larger deployment, for example deployment that willgrow into another mode (e.g., the example first mode 500, example fourthmode 530, etc.) as more communication system equipment is installed.Note also that the third example mode 520 may be utilized in a scenarioin which the local infrastructure provider network and fixed hotspotaccess network are normally available but are currently unavailable(e.g., due to equipment failure, due to communication link failure, dueto power outage, due to a temporary denial of service, etc.).

The fourth example mode (or configuration) 530 (e.g., a no fixedhotspots available mode) may, for example, share any or allcharacteristics with the first example mode 500, albeit without thefixed hotspot access network and communication links therewith. Forexample, the communication system in the fourth example mode 530comprises a backbone provider network, a local infrastructure providernetwork, a mobile hotspot access network, end-user devices, andenvironment devices.

As shown in FIG. 5B, and in FIG. 1 in more detail, the backbone providernetwork may be communicatively coupled to any or all of the otherelements present in the fourth example mode 530 (or configuration) viaone or more wired (or tethered) links. For example, the backboneprovider network may be communicatively coupled to the localinfrastructure provider network (or any component thereof), the end-userdevices, and/or environment devices via one or more wired links. Notethat such a wired coupling may be temporary. Also note that in variousexample configurations, the backbone provider network may also, at leasttemporarily, be communicatively coupled to the mobile hotspot accessnetwork (or any component thereof) via one or more wired (or tethered)links.

Also shown in FIG. 5B, and in FIG. 1 in more detail, the backboneprovider network may be communicatively coupled to any or all of theother elements present in the fourth example mode 530 (or configuration)via one or more wireless links (e.g., RF link, non-tethered opticallink, etc.). For example, the backbone provider network may becommunicatively coupled to the mobile hotspot access network (or anycomponent thereof), the end-user devices, and/or environment devices viaone or more wireless links. Also note that in various exampleconfigurations, the backbone provider network may also becommunicatively coupled to the local infrastructure provider network viaone or more wireless (or non-tethered) links.

As additionally shown in FIG. 5B, and in FIG. 1 in more detail, thelocal infrastructure provider network may be communicatively coupled toany or all of the other elements present in the fourth example mode 530(or configuration) via one or more wired (or tethered) links. Forexample, the local infrastructure provider network may becommunicatively coupled to the backbone provider network (or anycomponent thereof), the end-user devices, and/or environment devices viaone or more wired links. Note that such a wired coupling may betemporary. Also note that in various example configurations, the localinfrastructure provider network may also, at least temporarily, becommunicatively coupled to the mobile hotspot access network (or anycomponent thereof) via one or more wired (or tethered) links.

Also, though not explicitly shown, the local infrastructure providernetwork may be communicatively coupled to any or all of the otherelements present in the fourth example mode 530 (or configuration) viaone or more wireless links (e.g., RF link, non-tethered optical link,etc.). For example, the local infrastructure provider network may becommunicatively coupled to the backbone provider network (or anycomponent thereof), the mobile hotspot access network (or any componentthereof), the end-user devices, and/or environment devices via one ormore wireless links.

The mobile hotspot access network is further shown in the fourth examplemode 530 to be communicatively coupled to the end-user devices and/orenvironment devices via one or more wireless links. Many examples ofsuch wireless coupling are provided herein. Further, the end-userdevices are also shown in the fourth example mode 530 to becommunicatively coupled to the environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein.

In the fourth example mode 530 (e.g., the no fixed hotspots mode),information (or data) may be communicated between an end-user device anda server via the mobile hotspot access network, the local infrastructureprovider network, and/or the backbone provider network. As will be seenin the various example modes presented herein, such communication mayflexibly occur between an end-user device and a server via any of avariety of different communication pathways, for example depending onthe availability of a network, depending on bandwidth utilization goals,depending on communication priority, depending on communication time (orlatency) and/or reliability constraints, depending on cost, etc. Forexample, information communicated between an end user device and aserver may be communicated via the local infrastructure provider networkand/or the backbone provider network (e.g., skipping the mobile hotspotaccess network). Also for example, information communicated between anend user device and a server may be communicated via the backboneprovider network (e.g., skipping the mobile hotspot access networkand/or local infrastructure provider network).

Similarly, in the fourth example mode 530 (e.g., the no fixed hotspotsavailable mode), information (or data) may be communicated between anenvironment device and a server via the mobile hotspot access network,the local infrastructure provider network, and/or the backbone providernetwork. Also for example, an environment device may communicate with orthrough an end-user device (e.g., instead of or in addition to themobile hotspot access network). As will be seen in the various examplemodes presented herein, such communication may flexibly occur between anenvironment device and a server (e.g., communicatively coupled to thelocal infrastructure provider network and/or backbone provider network)via any of a variety of different communication pathways, for exampledepending on the availability of a network, depending on bandwidthutilization goals, depending on communication priority, depending oncommunication time (or latency) and/or reliability constraints,depending on cost, etc.

For example, information communicated between an environment device anda server may be communicated via the local infrastructure providernetwork and/or the backbone provider network (e.g., skipping the mobilehotspot access network). Also for example, information communicatedbetween an environment device and a server may be communicated via thebackbone provider network (e.g., skipping the mobile hotspot accessnetwork and/or local infrastructure provider network). Additionally forexample, information communicated between an environment device and aserver may be communicated via the local infrastructure provider network(e.g., skipping the mobile hotspot access network and/or backboneprovider network).

In the fourth example mode 530, in an example implementation, some ofthe control/management functions may for example be implemented withinthe local backbone provider network (e.g., within a client premises).For example, communication to the local infrastructure provider may beperformed through the backbone provider network (or Cloud). Note that ina scenario in which there is a direct communication pathway between thelocal infrastructure provider network and the mobile hotspot accessnetwork, such communication pathway may be utilized.

For example, since the mobile hotspot access network does not have acommunication link via a fixed hotspot access network, the Mobile APsmay utilize a direct connection (e.g., a cellular connection) with thebackbone provider network (or Cloud). If a Mobile AP does not have suchcapability, the Mobile AP may also, for example, utilize data accessprovided by the end-user devices communicatively coupled thereto (e.g.,leveraging the data plans of the end-user devices).

The fourth example mode 530 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample implementation, the fourth example mode 530 may be utilized inan early stage of a larger deployment, for example a deployment thatwill grow into another mode (e.g., the example first mode 500, etc.) asmore communication system equipment is installed. The fourth examplemode 530 may, for example, be utilized in a scenario in which there isno fiber (or other) connection available for Fixed APs (e.g., in amaritime scenario, in a plantation scenario, etc.), or in which a FixedAP is difficult to access or connect. For example, one or more MobileAPs of the mobile hotspot access network may be used as gateways toreach the Cloud. The fourth example mode 530 may also, for example, beutilized when a vehicle fleet and/or the Mobile APs associated therewithare owned by a first entity and the Fixed APs are owned by anotherentity, and there is no present agreement for communication between theMobile APs and the Fixed APs. Note also that the fourth example mode 530may be utilized in a scenario in which the fixed hotspot access networkis normally available but are currently unavailable (e.g., due toequipment failure, due to communication link failure, due to poweroutage, due to a temporary denial of service, etc.).

The fifth example mode (or configuration) 540 (e.g., a no mobilehotspots available mode) may, for example, share any or allcharacteristics with the first example mode 500, albeit without themobile hotspot access network and communication links therewith. Forexample, the communication system in the fifth example mode 540comprises a backbone provider network, a local infrastructure providernetwork, a fixed hotspot access network, end-user devices, andenvironment devices.

As shown in FIG. 5B, and in FIG. 1 in more detail, the backbone providernetwork may be communicatively coupled to any or all of the otherelements present in the fifth example mode 540 (or configuration) viaone or more wired (or tethered) links. For example, the backboneprovider network may be communicatively coupled to the localinfrastructure provider network (or any component thereof), fixedhotspot access network (or any component thereof), the end-user devices,and/or environment devices via one or more wired links. Note that such awired coupling may be temporary.

Also shown in FIG. 5B, and in FIG. 1 in more detail, the backboneprovider network may be communicatively coupled to any or all of theother elements present in the fifth example mode 540 (or configuration)via one or more wireless links (e.g., RF link, non-tethered opticallink, etc.). For example, the backbone provider network may becommunicatively coupled to the fixed hotspot access network (or anycomponent thereof), the end-user devices, and/or environment devices viaone or more wireless links. Also note that in various exampleconfigurations, the backbone provider network may also becommunicatively coupled to the local infrastructure provider network viaone or more wireless (or non-tethered) links.

As additionally shown in FIG. 5B, and in FIG. 1 in more detail, thelocal infrastructure provider network may be communicatively coupled toany or all of the other elements present in the fifth example mode 540(or configuration) via one or more wired (or tethered) links. Forexample, the local infrastructure provider network may becommunicatively coupled to the backbone provider network (or anycomponent thereof), fixed hotspot access network (or any componentthereof), the end-user devices, and/or environment devices via one ormore wired links. Note that such a wired coupling may be temporary. Alsonote that in various example configurations, the local infrastructureprovider network may also, at least temporarily, be communicativelycoupled to the mobile hotspot access network (or any component thereof)via one or more wired (or tethered) links.

Also, though not explicitly shown, the local infrastructure providernetwork may be communicatively coupled to any or all of the otherelements present in the fifth example mode 540 (or configuration) viaone or more wireless links (e.g., RF link, non-tethered optical link,etc.). For example, the local infrastructure provider network may becommunicatively coupled to the backbone provider network, the fixedhotspot access network (or any component thereof), the end-user devices,and/or environment devices via one or more wireless links. Note that thecommunication link(s) shown in the fifth example mode 540 of FIG. 5Bbetween the local infrastructure provider network and the fixed hotspotaccess network may be wired and/or wireless.

The fixed hotspot access network is also shown in the fifth example mode540 to be communicatively coupled to the end-user devices and/orenvironment devices via one or more wireless links. Many examples ofsuch wireless coupling are provided herein. Further, the end-userdevices are also shown in the fifth example mode 540 to becommunicatively coupled to the environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein.

In the fifth example mode 540 (e.g., the no mobile hotspots availablemode), information (or data) may be communicated between an end-userdevice and a server via the fixed hotspot access network, the localinfrastructure provider network, and/or the backbone provider network.As will be seen in the various example modes presented herein, suchcommunication may flexibly occur between an end-user device and a servervia any of a variety of different communication pathways, for exampledepending on the availability of a network, depending on bandwidthutilization goals, depending on communication priority, depending oncommunication time (or latency) and/or reliability constraints,depending on cost, etc. For example, information communicated between anend user device and a server may be communicated via the localinfrastructure provider network, and/or the backbone provider network(e.g., skipping the fixed hotspot access network). Also for example,information communicated between an end user device and a server may becommunicated via the backbone provider network (e.g., skipping the fixedhotspot access network and/or local infrastructure provider network).

Similarly, in the fifth example mode 540 (e.g., the no mobile hotspotsavailable mode), information (or data) may be communicated between anenvironment device and a server via the fixed hotspot access network,the local infrastructure provider network, and/or the backbone providernetwork. Also for example, an environment device may communicate with orthrough an end-user device (e.g., instead of or in addition to the fixedhotspot access network). As will be seen in the various example modespresented herein, such communication may flexibly occur between anenvironment device and a server (e.g., communicatively coupled to thelocal infrastructure provider network and/or backbone provider network)via any of a variety of different communication pathways, for exampledepending on the availability of a network, depending on bandwidthutilization goals, depending on communication priority, depending oncommunication time (or latency) and/or reliability constraints,depending on cost, etc.

For example, information communicated between an environment device anda server may be communicated via the local infrastructure providernetwork and/or the backbone provider network (e.g., skipping the fixedhotspot access network). Also for example, information communicatedbetween an environment device and a server may be communicated via thebackbone provider network (e.g., skipping the fixed hotspot accessnetwork and/or local infrastructure provider network). Additionally forexample, information communicated between an environment device and aserver may be communicated via the local infrastructure provider network(e.g., skipping the fixed hotspot access network and/or the backboneprovider network).

In the fifth example mode 540, in an example implementation, theend-user devices and environment devices may communicate directly toFixed APs (e.g., utilizing Ethernet, Wi-Fi, etc.). Also for example, theend-user devices and/or environment devices may communicate directlywith the backbone provider network (e.g., utilizing cellularconnections, etc.).

The fifth example mode 540 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample implementation in which end-user devices and/or environmentdevices may communicate directly with Fixed APs, such communication maybe utilized instead of Mobile AP communication. For example, the fixedhotspot access network might provide coverage for all desired areas.

Note also that the fifth example mode 540 may be utilized in a scenarioin which the fixed hotspot access network is normally available but iscurrently unavailable (e.g., due to equipment failure, due tocommunication link failure, due to power outage, due to a temporarydenial of service, etc.).

The sixth example mode (or configuration) 550 (e.g., the no fixed/mobilehotspots and local infrastructure available mode) may, for example,share any or all characteristics with the first example mode 500, albeitwithout the local infrastructure provider network, fixed hotspot accessnetwork, mobile hotspot access network, and communication linkstherewith. For example, the communication system in the sixth examplemode 550 comprises a backbone provider network, end-user devices, andenvironment devices.

As shown in FIG. 5B, and in FIG. 1 in more detail, the backbone providernetwork may be communicatively coupled to any or all of the otherelements present in the sixth example mode 550 (or configuration) viaone or more wired (or tethered) links. For example, the backboneprovider network may be communicatively coupled to the end-user devicesand/or environment devices via one or more wired links. Note that such awired coupling may be temporary.

Also shown in FIG. 5B, and in FIG. 1 in more detail, the backboneprovider network may be communicatively coupled to any or all of theother elements present in the sixth example mode 550 (or configuration)via one or more wireless links (e.g., RF link, non-tethered opticallink, etc.). For example, the backbone provider network may becommunicatively coupled to the end-user devices and/or environmentdevices via one or more wireless links.

The end-user devices are also shown in the sixth example mode 550 to becommunicatively coupled to the environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein.

In the sixth example mode 550 (e.g., the no fixed/mobile hotspots andlocal infrastructure available mode), information (or data) may becommunicated between an end-user device and a server via the backboneprovider network. Similarly, in the sixth example mode 550 (e.g., the nofixed/mobile hotspots and local infrastructure mode), information (ordata) may be communicated between an environment device and a server viathe backbone provider network. Also for example, an environment devicemay communicate with or through an end-user device (e.g., instead of orin addition to the mobile hotspot access network).

The sixth example mode 550 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample implementation, for example in which an end-user has not yetsubscribed to the communication system, the end-user device maysubscribe to the system through a Cloud application and by communicatingdirectly with the backbone provider network (e.g., via cellular link,etc.). The sixth example mode 550 may also, for example, be utilized inrural areas in which Mobile AP presence is sparse, Fixed AP installationis difficult or impractical, etc.

Note also that the sixth example mode 550 may be utilized in a scenarioin which the infrastructure provider network, fixed hotspot accessnetwork, and/or mobile hotspot access network are normally available butare currently unavailable (e.g., due to equipment failure, due tocommunication link failure, due to power outage, due to a temporarydenial of service, etc.).

The seventh example mode (or configuration) 560 (e.g., the no backboneand mobile hotspots available mode) may, for example, share any or allcharacteristics with the first example mode 500, albeit without thebackbone provider network, mobile hotspot access network, andcommunication links therewith. For example, the communication system inthe seventh example mode 560 comprises a local infrastructure providernetwork, fixed hotspot access network, end-user devices, and environmentdevices.

As shown in FIG. 5C, and in FIG. 1 in more detail, the localinfrastructure provider network may be communicatively coupled to any orall of the other elements present in the seventh example mode 560 (orconfiguration) via one or more wired (or tethered) links. For example,the local infrastructure provider network may be communicatively coupledto the fixed hotspot access network (or any component thereof), theend-user devices, and/or environment devices via one or more wiredlinks. Note that such a wired coupling may be temporary.

Also, though not explicitly shown, the local infrastructure providernetwork may be communicatively coupled to any or all of the otherelements present in the seventh example mode 560 (or configuration) viaone or more wireless links (e.g., RF link, non-tethered optical link,etc.). For example, the local infrastructure provider network may becommunicatively coupled to the fixed hotspot access network (or anycomponent thereof), the end-user devices, and/or environment devices viaone or more wireless links. Note that the communication link shown inthe seventh example mode 560 of FIG. 5C between the local infrastructureprovider network and the fixed hotspot access network may be wiredand/or wireless.

The fixed hotspot access network is also shown in the seventh examplemode 560 to be communicatively coupled to the end-user devices and/orenvironment devices via one or more wireless links. Many examples ofsuch wireless coupling are provided herein. Additionally, the end-userdevices are also shown in the seventh example mode 560 to becommunicatively coupled to the environment devices via one or morewireless links. Many examples of such wireless coupling are providedherein.

In the seventh example mode 560 (e.g., the no backbone and mobilehotspots available mode), information (or data) may be communicatedbetween an end-user device and a server via the fixed hotspot accessnetwork and/or the local infrastructure provider network. As will beseen in the various example modes presented herein, such communicationmay flexibly occur between an end-user device and a server via any of avariety of different communication pathways, for example depending onthe availability of a network, depending on bandwidth utilization goals,depending on communication priority, depending on communication time (orlatency) and/or reliability constraints, depending on cost, etc. Forexample, information communicated between an end user device and aserver may be communicated via the local infrastructure provider network(e.g., skipping the fixed hotspot access network).

Similarly, in the seventh example mode 560 (e.g., the no backbone andmobile hotspots available mode), information (or data) may becommunicated between an environment device and a server via the fixedhotspot access network and/or the local infrastructure provider network.Also for example, an environment device may communicate with or throughan end-user device (e.g., instead of or in addition to the mobilehotspot access network). As will be seen in the various example modespresented herein, such communication may flexibly occur between anenvironment device and a server (e.g., communicatively coupled to thelocal infrastructure provider network) via any of a variety of differentcommunication pathways, for example depending on the availability of anetwork, depending on bandwidth utilization goals, depending oncommunication priority, depending on communication time (or latency)and/or reliability constraints, depending on cost, etc. For example,information communicated between an environment device and a server maybe communicated via the local infrastructure provider network (e.g.,skipping the fixed hotspot access network).

The seventh example mode 560 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample controlled space implementation, Cloud access might not beprovided (e.g., for security reasons, privacy reasons, etc.), and full(or sufficient) coverage of the coverage area is provided by the fixedhotspot access network, and thus the mobile hotspot access network isnot needed. For example, the end-user devices and environment devicesmay communicate directly (e.g., via Ethernet, Wi-Fi, etc.) with theFixed APs

Note also that the seventh example mode 560 may be utilized in ascenario in which the backbone provider network and/or fixed hotspotaccess network are normally available but are currently unavailable(e.g., due to equipment failure, due to communication link failure, dueto power outage, due to a temporary denial of service, etc.).

The eighth example mode (or configuration) 570 (e.g., the no backbone,fixed hotspots, and local infrastructure available mode) may, forexample, share any or all characteristics with the first example mode500, albeit without the backbone provider network, local infrastructureprovider network, fixed hotspot access network, and communication linkstherewith. For example, the communication system in the eighth examplemode 570 comprises a mobile hotspot access network, end-user devices,and environment devices.

As shown in FIG. 5C, and in FIG. 1 in more detail, the mobile hotspotaccess network is shown in the eighth example mode 570 to becommunicatively coupled to the end-user devices and/or environmentdevices via one or more wireless links. Many examples of such wirelesscoupling are provided herein. Further, the end-user devices are alsoshown in the eighth example mode 570 to be communicatively coupled tothe environment devices via one or more wireless links. Many examples ofsuch wireless coupling are provided herein.

In the eighth example mode 570 (e.g., the no backbone, fixed hotspots,and local infrastructure available mode), information (or data) mightnot (at least currently) be communicated between an end-user device anda server (e.g., a coupled to the backbone provider network, localinfrastructure provider network, etc.). Similarly, information (or data)might not (at least currently) be communicated between an environmentdevice and a server (e.g., a coupled to the backbone provider network,local infrastructure provider network, etc.). Note that the environmentdevice may communicate with or through an end-user device (e.g., insteadof or in addition to the mobile hotspot access network).

The eighth example mode 570 may be utilized for any of a variety ofreasons, non-limiting examples of which are provided herein. In anexample implementation, the eighth example mode 570 may be utilized forgathering and/or serving data (e.g., in a delay-tolerant networkingscenario), providing peer-to-peer communication through the mobilehotspot access network (e.g., between clients of a single Mobile AP,between clients of respective different Mobile APs, etc.), etc. Inanother example scenario, the eighth example mode 570 may be utilized ina scenario in which vehicle-to-vehicle communications are prioritizedabove vehicle-to-infrastructure communications. In yet another examplescenario, the eighth example mode 570 may be utilized in a scenario inwhich all infrastructure access is lost (e.g., in tunnels, parkinggarages, etc.).

Note also that the eighth example mode 570 may be utilized in a scenarioin which the backbone provider network, local infrastructure providernetwork, and/or fixed hotspot access network are normally available butare currently unavailable (e.g., due to equipment failure, due tocommunication link failure, due to power outage, due to a temporarydenial of service, etc.).

As shown and discussed herein, it is beneficial to have a genericplatform that allows multi-mode communications of multiple users ormachines within different environments, using multiple devices withmultiple technologies, connected to multiple moving/static things withmultiple technologies, forming wireless (mesh) hotspot networks overdifferent environments, connected to multiple wired/wirelessinfrastructure/network backbone providers, ultimately connected to theInternet, Cloud or private network infrastructure.

FIG. 6 shows yet another block diagram of an example networkconfiguration, in accordance with various aspects of the presentdisclosure. The example network 600 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 400, 500-570, 700, 800, 900, 1000, 1100, 1200,1300, and 1400, discussed herein. Notably, the example network 600 showsa plurality of Mobile APs (or OBUs), each communicatively coupled to aFixed AP (or RSU), where each Mobile AP may provide network access to avehicle network (e.g., comprising other vehicles or vehicle networks,user devices, sensor devices, etc.).

FIG. 7 shows still another block diagram of an example communicationnetwork 700, in accordance with various aspects of the presentdisclosure. The example network 700 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 400, 500-570, 600, 800, 900, 1000, 1100, 1200,1300, and 1400, discussed herein. Notably, the example network 700 showsa plurality of vehicles (or Mobile APs, or MAPs, or OBUs) 752, 754, 756,and 758, each communicatively coupled to a Fixed AP (or RSU) 742, 744,and 748 and/or a cellular network 706, where each Mobile AP may providenetwork access to a vehicle network (e.g., comprising other vehicles orvehicle networks, user devices, sensor devices, etc.), for example aWi-Fi network to which end user devices may connect, with whichcommunication with sensors may be performed, etc. The example network700 may also, for example, comprise a plurality of Network Controllers732, 734, and 738. The example network 700 may also, for example,comprise any of a variety of interconnected networks (e.g., PrivateNetworks 702, the Internet 704, Telecommunication Networks 706, etc.).One or more servers of the Cloud may, for example, be accessible viaCloud APIs 760.

The Mobile APs 752, 754, 756, and 758 may, for example, becommunicatively coupled to various sensors (e.g., always, as the MobileAPs travel within range of such sensors, etc.). For example, in theexample scenario shown in FIG. 7, a first MAP 752 is communicativelycoupled to a first sensor 771 (e.g., Sensor 1) and a set of sensors 772(e.g., Sensor 2, Sensor 3, Sensor 4, and Sensor 5), which may forexample be co-located; a second MAP 754 is communicatively coupled to asixth sensor 773; and an M^(th) MAP 758 is communicatively coupled to aseventh sensor 774. The Mobile APs may, for example move in and out ofcommunication range of the various sensors. The Mobile APs may, forexample when in-range of such sensors, gather information from suchsensors in a power-efficient and network-efficient manner, many examplesof which are provided herein.

Due to the frequent interactions between vehicles in dense urbanenvironments, it may, in various scenarios, be beneficial to track who(or what) is at fault when there is a crash, an unexpected event at aroad intersection, a traffic jam, etc. Also, with the advent ofautonomous vehicles, to avoid undesirable situations (e.g., crashes,accidents in general, traffic blockages, etc.), it may be beneficial toensure that vehicle actions and interactions are well coordinated andagreed in advance.

Generally, the critical actions or events are performed by vehicles thatare considered trusted in the network. Thus, in accordance with variousaspects of this disclosure, there are provided centralized and securesystems to perform the vehicle decisions and to enforce (or implement)such decisions in the network. Herein, when a decision is made or taken,such decision may, for example, refer to a plan that includes atrajectory to implement (e.g., during a particular period or window oftime, etc.) and/or the implementation of such trajectory.

When operating in urban environments, agreements regarding road (ortravel) actions to take may need to be made quickly and/or locally(e.g., by an electronic system of the vehicle performing the action, bya neighbor node of the vehicle performing the action, etc.). In variousimplementation scenarios, it might not be practical to contact andnegotiate with a centralized entity. Accordingly, in variousimplementation, the vehicles, Fixed APs, other sources of information,etc., that can be connected to the vehicular network may be implementedwith enough intelligence to allow vehicles to take and agree, inreal-time and in a distributed way, on actions that vehicles should takethat can influence their travel (or trajectory or path or flight, etc.).

Those distributed actions may, for example, be driven by the localcontext of the vehicles, and may also be driven by the context requiredto globally optimize some action on the road (e.g., level of reducedcongestion, less traveling distance, less time spend in traffic jams,less fuel consumption and/or pollution emission, etc.). For example,each vehicle may be periodically advertised by (or provided with) globalcontext that may influence its decision, such as expected time to arriveat the destination if the vehicle turns right in the next roadintersection, the number of traffic lights if the vehicle turns left inthe next road intersection, etc.

Various aspects of the present disclosure also provide for continuouslyimproving and/or optimizing the action determination (e.g., improving oroptimizing algorithms, methods, metrics, etc.). For example, bycomparing the action(s) against the results (or outcomes) of theaction(s) (e.g., collision avoidance, congestion level, travelingdistance amount, time spent in traffic jams, emissions produced, energyutilized, quality of user experience, time to reach emergency locations,time to remedy traffic obstructions, amount of still time orslowly-moving time, etc.), good decisions may be reinforced (e.g., byalgorithm factor weighting, etc.) and bad decisions may be identifiedfor improvement, analysis, and learning.

Various aspects of the present disclosure additionally provide for thestorage of the decisions made and/or implemented, and for correlatingdata from multiple information sources (e.g., from multiple vehicles,from on-vehicle or off-vehicle sensors, from intersection or vehiclecameras, from audio sensors, from GPS and/or other positioning systems,from autonomous vehicle control systems, from vehicle OBD systems, fromuser electronic devices, etc.). Such stored and/or correlated data maythen be made available (e.g., via APIs, etc.) for analysis, for exampleto determine an individual, vehicle, or other entity that was at faultin a collision. For example, the decisions and/or implemented decisionsmay be backtracked to determine the sequence of events leading to anaccident. Such knowledge may then, for example, be utilized by publicsafety organizations, insurance companies, courts of law, decisionalgorithm developers, autonomous vehicle manufacturers, etc.

In an example implementation a blockchain-based approach may be utilizedto allow the distributed agreement of actions between vehicles, wherevehicles (or actions) may be trusted by each other. However, in order totrust a vehicle, a blockchain-based approach may include solving aproblem (e.g., a cryptopuzzle hash, etc.), which might not effectivelyfit with the Internet of Things (IoT) where, for example, the CPUconstraints or latency requirements are tight, for example requiring adelay, which may for example exceed many minutes, for most interactionswhich cannot effectively deal with the substantial mobility and thedynamics of vehicular environments, for example for a plan for travelingthrough an intersection. Therefore, in accordance with various aspectsof this disclosure, a solution to achieve a local and quick consensusbetween vehicles is provided, which has substantially lower latency,and/or has further agreements that make editing of the past information(e.g., information regarding actions taken, etc.) more difficult.

In accordance with various aspects of the present disclosure, a systemand method are provided which are able to make and agree on plans (aheadof time) that nodes must follow in vehicular environments in the contextof the Network of Moving Things. An agreement may, for example, be madebetween parties (vehicles) which cannot be modified without agreementfrom both parties. Such an agreement may, for example, concern futureactions that will be taken to avoid crashes.

In general, the system may be built on top of trusted entities that areable to reach a consensus on vehicle action(s) to take. Based on, forexample, the priority/severity/impact/time to perform of a specificdecision, this can be performed by a centralized entity that knows theentire network, distributed and in a peer-to-peer way by Mobile/FixedAPs that can see each other nearby, by an AP in a specific region thatknows the entire context of that region, any combination thereof, etc.As discussed herein, the context of a particular scenario may determinethe entity(s) that makes the decision.

The system may, for example, be driven by context that is carried byvehicles in a delay-tolerant fashion, as it can also include feedback orcontext acquired from other entities that are nearby the location ofinterest (e.g., cameras, radars, traffic lights, etc.) that areauthenticated and trusted in the network ahead of time.

In accordance with various aspects of this disclosure, as trusteddecisions are implemented (or deviated from), they generally cannot berolled back (or modified). Various aspects of this disclosure providefor the sharing of information regarding such decision implementationsor deviations (e.g., in a secure manner, in a delay tolerant manner, ina real-time emergency manner, etc.). In an example scenario, after a setof actions are implemented at an intersection and there are no mishaps,information regarding the actions taken may be propagated (e.g., to aCloud server, distributed among multiple nodes of the network, etc.) ina delay tolerant manner. In another example scenario, after a set ofactions are implemented that are associated with a collision,information regarding the actions may be immediately propagated to oneor more destinations (e.g., to a Cloud server, to a public safetyorganization, to an autonomous vehicle fleet controller or manufacturer,etc.), for example utilizing a cellular communication link or otherhigh-speed reliable link. In yet another example scenario, after a setof actions are implemented that result in a near collision (e.g., closerthan allowed by safety distance thresholds, etc.), information regardingthe actions may be quickly propagated (e.g., to an algorithm developmentorganization, to a fleet controller, etc.) so that such information maybe analyzed to proactively modify the decision algorithm before anaccident occurs. Such storage, communication, and analysis ofinformation may for example, assist with flight planning or vehicletravel planning, intersection management, autonomous vehicle management,etc.

Various aspects of the present disclosure provide a system and methodthat is thus able to detect unexpected vehicular context events andcompare such events with the events as planned (or predicted) todetermine what happened, to ascertain fault, to identify an opportunityfor algorithm improvement, to identify faulty sensor or vehicle systems,to identify previously non-considered factors to add to the actiondetermination algorithm. For example, in an example scenario, the systemmay identify a vehicle that deviated from the agreed-upon action plan,and then analyze information of (and around) such vehicle to determine acause of the deviation (e.g., operator error, poor road conditions,detection of an obstacle that may have been unknown when the actiondetermination was made, detection of another vehicle that is notbehaving according to the travel plan, etc.).

In order to make decisions in advance that are driven, at least in part,by historical and/or predictable/deterministic context related to thevehicular environment/location in which the decision will beimplemented, as well as to allow nodes to transport and share thosedecisions that can influence (or not) the future decisions taken byother nodes in the network, a system implemented in accordance withvarious aspects of this disclosure may be flexible and dynamic enough todistribute at least a portion of the intelligence and decision makingcapabilities among the different nodes to allow the timely making andimplementing (or enforcement) of those decisions in the network whenpossible (or necessary or desirable).

For example, with regard to such decisions, in an example implementationall (or most) of the decisions may be linked with accurate timinginformation (e.g., utilizing clocks synchronized to GPS time), linkedwith information regarding neighbors nearby the location in which adecision will be (or was) implemented, vehicle trajectory information(e.g., speed, direction, vehicle actuator linear or rotary position,etc.), etc. The decisions may, for example, be influenced by informationreceived from any of a variety of sources (e.g., from Mobile APs, FixedAPs, Cloud servers, Network Controllers, general communication networksources, as well as other sources of information that are consideredtrusted (e.g., vehicle sensors, off-vehicle sensors, cameras, trafficlights systems, emergency warning systems, road condition sensors, anyor all of the sensors discussed herein, etc.).

In accordance with various aspects of this disclosure, the system,implemented in a vehicular environment, may provide higher priority onattending to (e.g., making, implementing, etc.) decisions to beimplemented by vehicles moving at a relatively high speed, vehicles thatare traveling on congested roads, emergency vehicles (e.g., ambulances,law enforcement vehicles, fire fighter vehicles, paramedics, rescueteams, etc.), vehicles that are close to other vehicles, etc. Forexample, in an example scenario in which a first vehicle is moving attwice the speed of a second vehicle, all other considerations equal, thefirst vehicle may be given priority over the second vehicle. Also forexample, in an example scenario in which a first vehicle is on the openroad and a second vehicle is in congested bumper-to-bumper traffic, allother considerations equal, the second vehicle may be given priorityover the first vehicle. An emergency vehicle may, for example, be givenpriority over a personal vehicle. Additionally for example, in anexample scenario in which a first vehicle is known to produce morepollution than a second vehicle (e.g., based on measurements, based onengine size, based on weight or load being hauled, based on engine type,etc.), the first vehicle may be given priority based on the theory thatmaintaining operation of the first vehicle at a constant speed ifpossible may ultimately reduce overall pollution. Conversely, in anexample scenario, for example in which operation of environmentallyresponsible vehicles is being incentivized, electrical vehicles,fuel-cell vehicles, hybrid vehicles, small engine vehicles, etc., may begiven priority over vehicle types that are know to be more damaging tothe environment.

Example scenarios will now be presented to demonstrate various aspectsof the present disclosure. It should be understood that such examplesare provided herein merely for illustrative purposes and are not to beconstrued as limiting.

FIG. 8 shows a diagram of various example vehicle control scenarios, inaccordance with various aspects of the present disclosure. The examplescenarios 800 may, for example, share any or all characteristics withthe other example methods, networks and/or network components 100, 200,300, 400, 500-570, 600, 700, 900, 1000, 1100, 1200, 1300, and 1400,discussed herein.

In a first scenario 810, a Mobile AP is installed, for instance in anautonomous vehicle 818. In the example scenario 810, the vehicle 818 ismoving at a very high speed, and is thus quickly approaching anintersection. In the example scenario 810, the system determines thebest path (or trajectory) the vehicle should trust and implement at theintersection, as well as at the respective times associated with anysignificant trajectory alterations (e.g., time of turn, time of speedchange, etc.). The system makes the trajectory decision for theintersection based, at least in part, on the context of the intersectionbeing approached by the vehicle 818. Since, in the example scenario 810,there are no other vehicles nearby that came from the intersection, theMobile AP of the vehicle 818 might not have current trusted intersectioncontext information on which to determine a best decision that it shouldimplement in that intersection. The Mobile AP may, however, contact theFixed AP 814 nearby (e.g., having a coverage area that covers theintersection and/or an adjacent coverage area), which may provide thebest (e.g., most recent, trusted, etc.) context information for theintersection. Note that the MAP may contact a plurality of Fixed APsthat may have context information for the intersection (e.g., a secondFAP that acts as a back-up for a first FAP, etc.). For example, theFixed AP 814 may gather intersection context information from allvehicles leaving the intersection. The Fixed AP 814 may also, forexample, contact other nearby Fixed APs (e.g., the Fixed AP 816) orother Mobile APs for context information about the intersection. Alsofor example, the Fixed AP 814 may contact Cloud sources 805 (e.g.,databases, servers, central traffic or fleet controllers, etc.) toacquire context information about the intersection. The vehicle 818(e.g., a Mobile AP or vehicle control circuitry thereof) may thenprocess such information and/or interface to determine a best action totake and/or may interact with a server of the Cloud 805 to identify(e.g., agree upon, negotiate, etc.) a best action to take. Note that aFixed AP may have responsibility for a plurality of intersections (orroads, on/off ramps, parking lots, etc.) or regions.

In a second example scenario 820, the vehicles 822, 824, and 826 are allapproaching an intersection, and they should thus agree on the best patheach one should take (e.g., resulting in a choreographed sequence oftrajectory maneuvers that is both safe and efficient) through theintersection. Since there is a Fixed AP 816 nearby that can reliablycommunicate with all of the vehicles, the Fixed AP 816 may influence theroutes followed by each of the vehicles 822, 824, and 826. In an examplescenario, the vehicles 822, 824, and 826 may communicate with the FixedAP 816 (e.g., directly or via multi-hop wireless communications, forexample through a Mobile AP of the vehicle 822, etc.), and thus theFixed AP 816 may have all of the context information required todetermine and share the best actions to take in that intersection.

Note that the Fixed AP 816, when making these decisions, may considertrusted messages (e.g., advertisements, etc.) from one or more trustedsources of the Cloud 805, from other nearby trusted Fixed APs (e.g.,Fixed AP 814, etc.), from a trusted Network Controller 812, from trustedMobile APs, etc., about vehicles that are approaching the intersectionat a high speed (e.g., refer to the first scenario 810 discussedherein). For example, when a vehicle is moving at a high speed, theremay be less time (or more risk or more difficulty) associated withaltering its planned trajectory once determined and agreed upon. In thesecond example scenario 820, the Fixed AP 816 may receive informationfrom the Fixed AP 814 (or other node) regarding travel actions alreadyestablished for the vehicle 818, and may thus consider the plannedactions for the vehicle 818 when developing the best set of actions forthe vehicles 822, 824, and 826 (e.g., even in a scenario in which thevehicles 822, 824, and 826 are not directly aware of the vehicle 818).For example, the Fixed AP 814 may consider actions of a vehicle that isrelatively distant from an intersection when developing road actionplans for other vehicles that are at (or relatively near) theintersection.

As discussed herein, a single FAP may have primary responsibility for aplurality of intersections or other traffic areas of interest. AnotherFP may have secondary responsibility for any of such intersections orother traffic areas of interest. A Mobile AP may contact any of suchFAPs looking for context information from which to make road actiondecisions, road action instructions, etc.

In a third example scenario 830, there are presently no Fixed APs (or notrusted Fixed APs) available to assist the Mobile APs (or vehiclecontrol systems associated therewith) to make the best overalldecisions. In such case, and if each of vehicles 832, 834, and 836 willfollow planned paths that will not limit the actions taken by the others(e.g., the vehicle 834 will proceed forward, while the other vehicles832 and 836 will both turn right), the vehicles 832, 834, and 836 mayshare the respective actions they are planning to perform with the othervehicles, and the vehicles 832, 834, and 836 may locally agree onimplementing those actions. In this example scenario 830, there may beno need to involve another entity (e.g., contacting a server orcontroller of the Cloud 805, contacting an AP, etc.).

In a fourth example scenario 840, the traffic light system ismalfunctioning, and this information is broadcast through Wi-Fitransceivers coupled with the traffic lights. In the example scenario840, the traffic light system is considered a trusted source by thesystem. The vehicles 842 and 844 may communicate with each other (e.g.,utilizing Mobile AP links, etc.) and agree on the one that will proceedthrough the intersection first, since both vehicles want to move throughthe intersection and cross each other's path. In this example scenario840, for example due to high buildings, only one vehicle 844 has acommunication pathway (e.g., via a cellular link, etc.) with the Cloud805, so such vehicle 844 may assume a leader role and contact the Cloud805 to gather all the relevant context information that the vehicle 844may then analyze to determine and share the actions that should beperformed by both vehicles 842 and 844 in the intersection. Note thatthe traffic light system (or general traffic control system, forexample, controlling speed, direction, lane selection, on/off rampusage, etc.) may be determined to be malfunctioning in any of a varietyof manners. For example, a traffic control system (or system monitoringthe traffic control system operation) may transmit a message indicatingwhether the traffic control system is functioning properly. Also forexample, failure to communicate with a traffic control system may betaken as a sign that the traffic control system is not functioningproperly. Additionally for example, vehicles (or MAPs thereof)encountering anomalies while interacting with the traffic control system(e.g., having to take reactive evasive maneuvers, having to stopsuddenly, etc.) may transmit messages to other vehicles (or MAPsthereof, or FAPs associated therewith, etc.) to indicate that thetraffic control system may be malfunctioning.

In performing the vehicle action determination and/or implementationdiscussed herein, a system implemented in accordance with variousaspects of this disclosure provides safety and security. Such safety andsecurity may, for example, be provided utilizing secure methods,messaging and/or protocols. For example, methods may be implemented thatensure the decisions are made and shared among all of the relevant nodesavailable in the region in which the decisions are implemented (orenforced) in a trusted and secure fashion.

A consensus protocol may, for example, allow a set of nodes toeventually agree on a single value in a noisy network. Achieving aconsensus in a vehicular network may, for example, comprisecharacteristics of a Byzantine Generals Problem. For example, messagesmay be lost, malicious nodes may attempt to tamper with a decision, adecision must be made in finite time (termination), etc. Also, when theenvironment changes in a significant manner, the nodes may run (orre-run) the consensus protocol to decide on the new actions (or values).The consensus may, for example, be decided by a commander/leader and/orinteractively among the nodes. As discussed herein, several differentapproaches may be takin within the scope of this disclosure. Suchapproaches may be universal and/or may be selected based on particularoperational context. Such approaches may, for example, comprise acentralized approach, a decentralized approach, a distributed approach,etc.

In an example centralized approach (or environment), the nodes may becoordinated by a single entity, the leader (e.g., a Cloud server, aFixed AP near a traffic light, etc.). For example, all involved nodesmay send their context (e.g., vehicle information, trajectory or routeinformation, operational parameters about the vehicle, sensorinformation of sensors on-board or off-board the vehicle, etc.) to theleader. Note that any or all of the context information may be provideda priori by the Cloud to the Fixed AP. The leader may then, for example,retrieve the information, make the decision and push the decision toevery node. All nodes may then generally agree and implement thedecision accordingly. If a node is unable (or unwilling) to implementthe decision, the node may then contact the leader with an explanation,and the leader may modify the decision if necessary (e.g., timepermitting, etc.). In an example implementation, a Fixed AP may maintaincontext information for all intersections or all traffic areas in itscoverage area, may maintain vehicle context information for all vehicleshaving MAPs within its coverage area, etc.

Various example scenarios presented herein provided leaders such asAccess Points, Fog-Computing nodes, and the Cloud (e.g., servers orcontrollers thereof). The selection of such leaders may, for example, bebased on latency requirements. For example, selecting a local Fixed APas a leader may be necessary when selecting a Cloud entity as the leaderis associated with a predicted latency that is higher than acceptable. Avehicle may, for example, ask the leader for its action at the next roadintersection, the Cloud can send the action, etc. Such communicationmay, for example, be synchronous (e.g., including a vehicle asking foran action in a pull system, etc.), asynchronous (e.g., a trusted leadersending action decisions to vehicles in a push system), or a combinationthereof. Note that in a scenario in which a vehicle inquires about anaction, such inquiry may trigger a consensus process involving anynumber of other nodes. Note that current or predicted latency and/orlatency needs may vary in real-time. For example, latency needs (e.g.,time constraints, etc.) may be tighter in congested and/or chaoticsituations, time constraints may be looser on open roads, etc.Similarly, latency performance (e.g., how long it takes a node to make aroad action decision, etc.) may be better during periods of low traffic(or low network utilization), etc. In an example scenario involvingparticular small latency requirements, the vehicle (or MAP thereof) maydetermine that there is no time to trigger a consensus process, and thatthe vehicle must act autonomously based on the context informationalready stored at the vehicle, detected by the vehicle sensors, etc.

In an example scenario, a vehicle may autonomously determine a roadaction while waiting for a vehicle-based (or MAP-based) consensus tocompletely, while waiting for road action instructions from a FAP, whilewaiting for road action instructions from a cloud-based centralcontroller, etc. In such a scenario, if higher-level road actioninstructions are received (or received with at least a threshold amountof time before the road action need be implemented), the vehicle mayimplement road actions accordingly. For example, a road actiondetermined by multi-vehicle consensus may be preferred to theautonomously determined road action, but only if such consensus isreached in time for each participating vehicle to prepare for andperform its respective road action. Similarly for example, a road actiondetermined by a Fixed AP or cloud-based central controller may bepreferred to the autonomously determined road action and/or a roadaction determined by MAP-based consensus, but only if such instructionsare received in time for each participating vehicle to prepare for andperform its respective road action. Note that a universalacknowledgement may be required, or such a strategy could be run openloop.

In an example decentralized approach, the nodes (e.g., all nodes, allrelevant nodes, etc.) may agree on a leader or a set of leaders to makethe decision, for example assuming that the vehicles are stronglyconnected to each other, which is a typical scenario at a roadintersection. For example, it may be assumed that all nodes areavailable and there are no failures).

The nodes may, for example run a leader election algorithm based, atleast in part, on any of a variety of techniques, for example Raft,Paxos or mesh leader election algorithms. Many examples of suchtechniques may be utilized, various examples are provided by U.S.Provisional Patent Application Ser. No. 62/415,268, filed on Oct. 31,2016, and titled “Systems and Methods for Tracking and Fault Detection,for Example Among Autonomous Vehicles, in a Network of Moving Things,”which is hereby incorporated herein by reference in its entirety.

To perform such decisions, each node (e.g., vehicle, Mobile AP, etc.)involved in a consensus may periodically broadcast its context to itsneighbors and/or the context can be sent to the nodes before thealgorithm begins.

In an example scenario, when arriving at a specific road intersection,all nodes may determine whether they are able to see each other, so thatthe nodes may ensure that all of the nodes share the same context. Then,the nodes may converge on selecting the leader based on a deterministicvalue of the context such as the vehicle speed, proximity to the roadintersection, level of trust, identity of the node, type of vehicle,vehicle traffic management capabilities, software version, number ofpassengers, fleet association, etc. For example, in an example scenario,municipal vehicles (e.g., buses, trains, street cars, maintenancevehicles, etc.) may have more capable (e.g., more expensive) systems andthus may generally be selected as leaders. Also for example, therespective system capabilities of each vehicle may be compared (e.g.,system types, version numbers, release dates, etc.) so that the vehiclewith the most capable system is selected to be the leader.

In an example distributed approach (e.g., fully distributed, etc.), forexample like MANETs, the vehicles may coordinate with each other andmake decisions without a leader and be able to tolerate and/or recoverfrom failures, since the vehicles are not always able to see each other.These scenarios may, for example, occur when a node is unable to reachthe Cloud, when there is not enough time for a Cloud-based (orFAP-based) solution, when a node is not able to see all nodes involvedin an interaction, etc.

The scenario can be determined by each node, after inspecting thecontext shared by their neighbors, which may be able to see other nodesthat the first is not able to see (e.g., a node can share its context,as well as the IDs and other information of the nodes they are able tosee). When a node determines it may be unable to contact all the actorsinvolved in a decision regarding an interaction, the node may make themost suitable decision, or leverage on the decision taken by other nodesnearby, or take the same action previously taken in the same scenario,which is probabilistic-driven.

In accordance with various aspects of the present disclosure, a systemmay improve its performance over time, resulting in improveddecision-making. For example, after executing a plan, which comprises atrajectory to follow over a particular time, the actual trajectory maybe compared with the planned one. For example, to minimize subsequentdeviations from planned trajectories, information of the actualimplementation, may inform future plans.

Such operation may have real-time immediate implications or long termimplementations for the decision making. For example, when there is anunexpected event (e.g., a collision, a road obstruction, etc.)occurring, the vehicles quickly contact the Cloud to determine if anydecisions should be reconsidered. The Cloud may also then consider suchinformation when performing future decisions.

In accordance with various aspects of the present disclosure, thenetwork of moving things may include any of a variety of types ofvehicles (e.g., road vehicles, drones, planes, boats, etc.), which maynegotiate with each other (and/or a central controller) and agree ontrajectories they must each follow in order to avoid colliding, storingthe agreement in a trusted manner. When there is a collision, a trustedelement (e.g., node, module, database, etc.) storing the trajectories(or paths) of the vehicles may then be consulted to determine whichmoving thing was at fault (e.g., to determine which vehicle was in thewrong (or misunderstood) place at the wrong time, etc.). Such knowledgemay, for example, lead to improvement of the overall traffic controlsystem, may assist insurance companies in and/or public safetydepartments with identifying the cause (or fault) of an unfortunateevent. Since such knowledge may originate from many more nodes thanthose directly involved in an incident, such knowledge may be morereliable overall for identifying an at-fault party.

As an additional example of road action determination, FIG. 9 shows aflow diagram of an example method 900 for managing road actions, inaccordance with various aspects of the present disclosure. The examplemethod 900 may, for example, share any or all characteristics with theother example methods, networks and/or network components 100, 200, 300,400, 500-570, 600, 700, 800, 1000, 1100, 1200, 1300, and 1400, discussedherein. For example, any or all aspects of the example method 900 ofFIG. 9 may be implemented by a Mobile AP (or other network node, forexample, a Fixed AP, a Network Controller, a cloud server, a centralcontroller, etc.).

The example method 900 begins executing at block 905. The example method900 may begin executing in response to any of a variety of causes orconditions, non-limiting examples of which are provided herein. Forexample, the example method 900 may begin executing upon power-up orreset of a system implementing the method 900. Also for example, themethod 900 may begin executing in response to a received signal fromanother network node (e.g., a cloud server node, a Fixed AP, a MobileAP, a Network Controller, an OBD system of a vehicle, etc.). Further forexample, the method 900 may begin executing in response to alocation-determining system determining that the node (e.g., a MobileAP, etc.) implementing the method 900 is traveling toward a trafficintersection or other traffic control area. In general, the examplemethod 900 may begin executing in response to any of a variety of causesor conditions. Accordingly, the scope of this disclosure should not belimited by characteristics of any particular cause or condition.

The example method 900 may, at block 910, comprise providing WLANservices to client devices in and/or around a vehicle (e.g., a vehiclein which a Mobile AP is installed, etc.). Block 910 may compriseproviding the WLAN services in any of a variety of manners, non-limitingexamples of which are provided herein. For example, the presentdisclosure provides numerous characteristics of a Mobile AP (or FixedAP, etc.) that provides WLAN services (e.g., Wi-Fi-based WLAN services,etc.) to client devices that are within communication range of theMobile AP.

The example method 900 may, at block 920, comprise communicating withother access points (e.g., MAPs, FAPs, etc.), base stations, etc. Block920 may comprise communication with such other access points in any of avariety of manners, non-limiting examples of which are provided herein.For example, the present disclosure provides numerous characteristics ofa Mobile AP (or Fixed AP, etc.) that communicates with other accesspoints (e.g., MAPs, FAPs, etc.), base stations, etc. For example, suchcommunication may be performed over DSRC links, cellular links, etc.

The example method 900 may, at block 930, comprise receiving trafficinformation from one or more other Mobile APs. Such traffic informationmay, for example, comprise vehicle context information, for exampledescribing vehicle movement (e.g., velocity, speed, location, etc.) orplanned movement (or route) characteristics, vehicle autonomousoperation capability information, vehicle health information, OBD data,etc. Such traffic information may, for example, comprise trafficintersection context information (or context information for any trafficcontrol area, for example, an on/off ramp, a parking area, a busystreet, a toll plaza, a highway or roadway, etc.). Various examples ofsuch traffic intersection (or other controlled area) context informationare provided herein. Such traffic intersection context information may,for example, comprise information regarding traffic control system state(or operation), for example traffic light status or planned status. Alsofor example, such intersection context information may compriseinformation regarding the amount of congestion at an intersection,obstacles at an intersection, traffic flow rate through an intersection,duration of planned traffic control signals, etc.

Block 930 may comprise receiving the traffic information synchronouslyor asynchronously, for example by requesting such information from otherMAPs, by receiving such information in an unsolicited manner, etc.

Note that block 930 may also comprise forwarding information receivedfrom other MAPs to the other MAPs, to one or more FAPs, to one or morecentral controllers, etc. For example, as discussed herein, in variousimplementations, such other nodes may be involved with road actiondecisions and/or may serve as repositories for traffic-relatedinformation (e.g., vehicle context information, intersection (or othercontrolled area) context information, etc.

The received traffic information may also, for example, compriseinformation indicating a road action that the MAP (or a vehicle carryingthe MAP), and/or other MAPs, is to take. For example, as discussedherein, a leader MAP (or a distributed group of MAPs) may be selected tomake road actions decisions for a particular choreographed set ofmaneuvers. In such a scenario, the traffic information may be receivedfrom the leader MAP and may direct the MAP (or vehicle thereof) toperform a particular one or more road actions.

In general, block 930 may comprise receiving traffic information fromone or more other Mobile APs. Accordingly, the scope of this disclosureshould not be limited by characteristics of any particular type oftraffic information.

The example method 900 may, at block 940, comprise receiving trafficinformation from one or more FAPs. Such traffic information may, forexample, comprise any or all of the intersection (or controlled region)and/or vehicle context information discussed herein. Such trafficinformation may, for example, comprise traffic intersection contextinformation (or context information for any traffic control area, forexample, an on/off ramp, a parking area, a busy street, a toll plaza, ahighway or roadway, etc.). Various examples of such traffic intersection(or other controlled area) context information are provided herein. Suchtraffic intersection context information may, for example, compriseinformation regarding traffic control system state (or operation), forexample traffic light status or planned status. Also for example, suchintersection context information may comprise information regarding theamount of congestion at an intersection, obstacles at an intersection,traffic flow rate through an intersection, duration of planned trafficcontrol signals, etc. As discussed herein, a FAP may be assigned tocontrol (e.g., as a primary FAP controller, as a secondary FAPcontroller, etc.) one or more intersections within communication rangeof the FAP. In an example implementation, such a FAP may serve as theprimary storage and source of information concerning such intersections.The FAP may then, for example, process such information (e.g., incombination with vehicle context information) to determine road actionsand/or may provide such information to the MAPs so that the MAPs mayutilize such information to make MAP-based road action decisions.

Such traffic information may, for example, comprise vehicle contextinformation, for example describing vehicle movement (e.g., velocity,speed, location, etc.) or planned movement (or route) characteristics,vehicle autonomous operation capability information, vehicle healthinformation, OBD data, etc. As discussed herein with regard tointersection information, the FAP (or another node coupled thereof) mayserve as the primary storage and source of vehicle information. Forexample, in such an implementation, a MAP may receive vehicleinformation for vehicles associated with other MAPs from the FAP and/ordirectly from the MAPs. In a scenario in which information concerninganother vehicle is received from the MAP of the vehicle and from a FAP,the receiving MAP may determine that the information received directlyfrom the MAP is more accurate than the information received from the FAP(e.g., if such information from the different sources conflicts).

The received traffic information may also, for example, compriseinformation indicating a road action that the MAP (or a vehicle carryingthe MAP) is to take. For example, as discussed herein, a leader MAP (ora distributed group of MAPs) may be selected to make road actionsdecisions for a particular choreographed set of maneuvers. In such ascenario, the traffic information may be received from the leader MAPand may direct the MAP (or vehicle thereof) to perform a particular oneor more road actions.

Block 940 may comprise receiving the traffic information synchronouslyor asynchronously, for example by requesting such information from theFAP(s), by receiving such information in an unsolicited manner, etc. Inan example scenario, if a MAP is approaching an intersection (or aseries of intersections) and has not received up-to-date contextinformation for the intersection and/or nearby vehicles, the MAP mayrequest the information from the FAP (or other nodes).

In general, block 940 may comprise receiving traffic information fromone or more Fixed APs. Accordingly, the scope of this disclosure shouldnot be limited by characteristics of any particular type of trafficinformation.

The example method 900 may, at block 950, comprise determining a roadaction for the vehicle associated with the MAP (e.g., in which the MAPis installed, etc.). As discussed herein, such a determination may beperformed autonomously by the MAP, for example based at least in part onthe information received at blocks 930 and/or 940. Also as discussedherein, such a determination may be made in concert with other MAPs ator near the intersection (e.g., through negotiations, by selecting aleader MAP for making the determination, etc.). Many examples ofselecting a leader for a determination are provided herein, for examplein the discussion of FIG. 8, etc. Additionally, as discussed herein,such a determination may be originated at a FAP, NC, cloud server,central controller, etc. Thus, depending on the particular scenario, theMAP may make its own determination and/or may receive the determinationfrom another node. In a manner similar to selecting a leader, thealgorithm utilized for determining road actions may be selected,depending on real-time circumstances (e.g., latency needs, emergencystatus, the presence of unanticipated vehicles or other obstacles,etc.).

Block 950 may comprise the MAP system selecting between anautonomously-determined action and an action received from another node.For example, such selection may be priority-based. In an examplescenario, the MAP may choose to follow instructions received from acentral controller, over those received from a FAP, over those receivedfrom another MAP, over those autonomously determined. Note that in anemergency scenario, for example in which a dangerous or unexpectedsituation is sensed (e.g., an obstacle is detected at an unexpectedlocation), the MAP may revert to utilizing its autonomously-determinedroad action, at least until the dangerous or unexpected situation haspassed. For example, when no higher-priority road action information isreceived (e.g., from a FAP, from an NC, from a cloud server, etc.), theMAP may attempt to reach a local road action consensus with other MAPsat or near an intersection. If such attempt fails, the MAP may thenautonomously determine the road actions for its vehicle.

Block 950 may, for example, comprise the MAP system determining roadactions based on a universally-downloaded algorithm (or road actionoptimization instructions). As discussed herein, a central controller orother node may provide an algorithm designed to optimize particulartraffic-related parameters, weighted to favor movement of prioritizedvehicles through an intersection over disfavored vehicles, emphasizingthe reduction of pollutants associated with starting/stopping freightvehicles, etc. The MAP may then execute the algorithm utilizing thetraffic information received at blocks 930 and/or 940. In an examplescenario, a selected leader MAP for a choreographed set of maneuvers mayexecute the algorithm and inform the other MAPs of the result. Inanother example scenario, each MAP may independently execute thealgorithm, which should yield the same resulting road action plan ifeach MAP has the same algorithm and the same input information. Notethat, as discussed herein, the MAP may have back-up emergency control torespond to unforeseen events, which may include another MAP (or vehiclethereof) not traveling as expected.

In general, block 950 may comprise determining a road action for thevehicle associated with the MAP. Accordingly, the scope of thisdisclosure should not be limited by characteristics of any particularmanner of performing such determining.

The example method 900 may, at block 960, comprise implementing (ormanaging) the determined road action. Block 960 may comprise performingsuch implementing in any of a variety of manners, non-limiting examplesof which are provided herein.

Block 960 may, for example, comprise the MAP interacting with adedicated vehicle control system of a vehicle, for example, providingroad action movements, times, conditions, etc., which when executed willresult in the vehicle making the desired movement. Block 960 may, forexample, comprise monitoring the movement of the vehicle of the MAP,monitoring the movements of other vehicles, monitoring intersection andvehicle context, etc., for example to sure that the movementchoreography is playing out as expected. Additionally, as will bediscussed next, the MAP may report information regarding the monitoring.For example, the MAP may maintain a record of actual vehicle movement,intersection conditions, behavior of traffic control systems local tothe intersection, unexpected deviations from a movement plan (on thepart of the MAP's vehicle or any vehicle or object), etc.

In general, block 960 may comprise implementing (or managing) thedetermined road action. Accordingly, the scope of this disclosure shouldnot be limited by characteristics of any particular manner ofimplementing or managing.

The example method 900 may, at block 970, comprise communicating trafficinformation to other nodes (e.g., other MAPs, FAPs, Network Controllers,cloud servers, central traffic controllers, etc.). Block 970 maycomprise performing such communicating in any of a variety of manners,non-limiting examples of which are provided herein.

For example, as mentioned herein, during a vehicle's travel to, through,and from a traffic intersection (or other controlled area), the MAP maymonitor vehicle and traffic intersection context. As the MAP is near thetraffic intersection (e.g., moving toward the intersection, movingthrough the intersection, moving from the intersection, sittingstationary, etc.), the MAP may communicate information indicative ofsuch monitoring to other nodes. For example, the MAP may communicatesuch information to other MAPs (e.g., of vehicles traveling toward theintersection, other vehicles with which the MAP was coordinatingmovements with, other MAPs as a multi-hop communication upstream toinfrastructure nodes, etc.).

Also for example, the MAP may communicate such information to one ormore FAPs. As mentioned herein, one or more FAPs may be responsible forcoordinating movement of vehicles through one or more respectiveintersections (or other controlled areas). In such an implementation,block 970 may comprise the MAP communicating current information (e.g.,vehicle context information, intersection context information,information regarding whether a recommended road action (or set thereof)was implemented and how well it worked, etc.). Block 970 may, forexample, comprise performing such communicating utilizing any one ormore of the types of communication links discussed herein.

Block 960 may, for example, comprise communicating the trafficinformation synchronously (e.g., in response to an inquiry or poll fromthe destination node, etc.) or asynchronously (e.g., when the MAP hasthe necessary processing cycles and/or communication bandwidth to safelyperform such communicating).

In general, block 970 comprises communicating traffic information toother nodes. Accordingly, the scope of this disclosure should not belimited by characteristics of any particular type of communicating, orby characteristics of any particular information communicated.

The example method 900 may, at block 995, comprise performing continuedprocessing. Block 995 may comprise performing any of a variety of typesof continued activity, non-limiting examples of which are providedherein.

For example, block 995 may comprise directing execution flow of theexample method 900 to any of the other blocks of the example method 900,or any portion of such blocks. Also for example, block 995 may comprisedirecting execution flow of the example method 900 to any other methodblock or step or function discussed herein.

As a further example of road action determination, FIG. 10 shows a flowdiagram of an example method 1000 for managing road actions, inaccordance with various aspects of the present disclosure. The examplemethod 1000 may, for example, share any or all characteristics with theother example methods, networks and/or network components 100, 200, 300,400, 500-570, 600, 700, 800, 900, 1100, 1200, 1300, and 1400, discussedherein. For example, any or all aspects of the example method 1000 ofFIG. 10 may be implemented by a Fixed AP (or other network node, forexample, a Mobile AP, a Network Controller, a cloud server, a centralcontroller, etc.). In an example scenario, one or more Mobile APs may beoperating in accordance with the example method 900 of FIG. 9, and oneor more Fixed APs may be operating in accordance with the example method1000 of FIG. 10.

The example method 1000 begins executing at block 1005. The examplemethod 1000 may begin executing in response to any of a variety ofcauses or conditions, non-limiting examples of which are providedherein. For example, the example method 1000 may begin executing uponpower-up or reset of a system implementing the method 1000. Also forexample, the method 1000 may begin executing in response to a receivedsignal from another network node (e.g., a cloud server node, a Fixed AP,a Mobile AP, a Network Controller, an OBD system of a vehicle, etc.). Ingeneral, the example method 1-000 may begin executing in response to anyof a variety of causes or conditions. Accordingly, the scope of thisdisclosure should not be limited by characteristics of any particularcause or condition.

The example method 1000 may, at block 1010, comprise providingcommunication network access to other nodes. Block 910 may compriseproviding the communication network access in any of a variety ofmanners, non-limiting examples of which are provided herein. Forexample, the present disclosure provides numerous characteristics of aFixed AP (or Mobile AP, etc.) that provides communication network accessservices (e.g., DSRC-based access, cellular-based access, etc.) to otherdevices that are within communication range of the Fixed AP. Thecommunication network may, for example, comprise a communicationnetwork, many example characteristics of which are provided herein. Forexample, block 910 may comprise a Fixed AP providing Internet or cloudaccess to Mobile APs (or clients thereof), to other Fixed APs, etc.

The example method 1000 may, at block 1020, comprise receiving trafficinformation from other nodes. Such traffic information may comprisecharacteristics of any or all of the types of traffic informationdiscussed herein (e.g., traffic intersection context information,vehicle context information, road action information, etc.). Block 1020may, for example, comprise a node (e.g., a FAP, etc.) receiving suchinformation from Mobile APs that are traveling (or have traveled)through an intersection (or other controlled area). Also for example,block 1020 may comprise the node (e.g., a FAP, etc.) receiving suchinformation from a FAP (e.g., a redundant FAP, a FAP with primary orsecondary responsibilities for an intersection, etc.). Additionally forexample, block 1020 may comprise the node (e.g., a FAP, etc.) receivingsuch information from a cloud server or central controller, from anetwork controller, etc.).

Block 1020 may, for example, comprise receiving the information in asolicited or unsolicited manner. For example, the node (e.g., a FAP,etc.) implementing the method 1000 may comprise sending inquiry (orpoll) messages to traffic control systems or traffic monitoring systemsat intersections for which the node is responsible, and receiving theinformation in response to such messages. Also for example, block 1020may comprise receiving such information in an unsolicited manner, forexample periodically, upon state change of the traffic control system,etc.

In another example scenario, block 1020 may comprise sending inquiry (orpoll) messages to MAPs of vehicles that are traveling through (or havetraveled through, or are traveling toward) an intersection, andreceiving the information from the MAPs in response to such messages.Also for example, block 1020 may comprise receiving such informationfrom the MAPs in an unsolicited manner, for example periodically, when aMAP is passing through an intersection, when a MAP has successfullypassed through the intersection, as a MAP is traveling toward anintersection, etc.

In yet another example scenario, block 1020 may comprise sending inquiry(or poll) messages to other FAPs that are associated with particularvehicles or intersections (or other controlled areas). For example,block 1020 may comprise a secondary FAP for an intersection sendinginquiry messages to a primary FAP for the intersection, for example toensure that each FAP has the same information.

In still another example scenario, a central controller (e.g., a cloudserver) that oversees operation of the FAPs (e.g., for traffic-relatedfunctionality) may update traffic and/or vehicle information of the FAPsby propagating current intersection (or other controlled area) and/orvehicle information to the FAPs.

Block 1020 may comprise receiving the traffic information from the othernodes through any of the types of communication links discussed herein.For example, block 1020 may comprise receiving the information throughwired (or tethered optical) communication infrastructure, block 1020 maycomprise receiving the traffic information from other FAPs or from MAPsover DSRC links, etc.

In general, block 1020 may comprise receiving traffic information fromother nodes. Accordingly, the scope of this disclosure should not belimited by characteristics of any particular manner of receiving suchinformation or by characteristics of any particular type of trafficinformation.

The example method 1000 may, at block 1030, comprise communicatingtraffic information to other nodes. Block 1030 may comprise performingsuch communicating in any of a variety of manners, non-limiting examplesof which are provided herein.

For example, block 1030 may comprise communicating any or all of theinformation received at block 1020 to any of the other nodes discussedherein. For example, block 1030 may comprise communicating informationregarding traffic intersections (or other controlled areas) andinformation regarding vehicles to MAPs of vehicles within communicationrange of the node (e.g., a FAP, etc.). For example, as discussed herein,a FAP may have traffic control responsibilities for one or more trafficintersections (or other controlled areas) within communication range ofthe FAP. The FAP may, for example at block 1030, communicate trafficinformation regarding such intersections and/or associated vehicles tothe vehicles in the FAPs coverage area, to the respective vehicles neara respective intersection (or controlled area), etc.

As discussed herein, the FAP may pass intersection and/or vehiclecontext information on to the Mobile APs for the MAPs to utilize inmaking their own road action decisions and/or the FAP may make the roadaction decisions and communication such decisions to the MAPs.

Block 1030 may, for example, comprise a FAP communicating the trafficinformation to a peer FAP. For example, a FAP having primaryresponsibilities for a particular traffic intersection may communicatethe traffic information to a FAP having secondary responsibilities forthe traffic intersection (or vice versa). Block 1030 may also, forexample, comprise a FAP communicating the traffic information to anupstream node (e.g., to a network controller, to a cloud server orcentral controller, etc.).

The node (e.g., a FAP) may communicate the information in any of avariety of manners. For example, a FAP may unicast the information toeach MAP, a FAP may multi-case the information for an intersection to amulticast group of MAPs at or near the intersection, a FAP may broadcastthe information to all MAPs within the FAP's coverage area, etc.

Block 1030 may comprise communicating the information in a synchronousand/or asynchronous manner. For example as discussed herein, Mobile APsmay solicit intersection and/or road action information from a FAP.Also, cloud servers or central controllers may solicit intersectionand/or vehicle information from a FAP. Block 1030 may, for example,comprise communicating the traffic information periodically, as soon asnew information is received, etc.

In an example scenario, block 1030 may comprise determining respectivelocations and/or routes of MAPs in its coverage area, identifying arespective group of MAPs for each intersection based on MAP locationsand intersection locations, and communicating information for eachintersection to the respective group of MAPs for each intersection.

In general, block 1030 may comprise communicating traffic information toother nodes. Accordingly, the scope of this disclosure should not belimited by characteristics of any particular type of traffic informationor of any particular manner of communicating such traffic information.

The example method 1000 may, at block 1040, comprise determining roadactions. Block 1040 may comprise a node (e.g., a FAP, NC, cloud server,central controller, etc.) determining road actions for vehicles in anyof a variety of manners, non-limiting examples of which are providedherein. For example and without limitation, the discussions of FIGS. 8and 9 include many examples of road action determination.

For example, as discussed herein a FAP may make road action decisions,or such decisions may be made at other nodes (e.g., other FAPs, NetworkControllers, cloud servers, central controllers, etc.). Thus, the FAPmay originate some or all of the road action decisions and/or may passthrough decisions made by other nodes.

In an example scenario in which a FAP has responsibility for controllingtraffic through an intersection in its coverage area, the FAP maymaintain enough context information regarding the interaction and thevehicles in its coverage area to have an accurate picture of not onlythe immediate context of the intersection, but also of the futurecontext of the intersection. For example, the FAP has knowledge of thetraffic that is traveling toward the intersection, where a local trafficcontroller or Mobile AP at the intersection might not have suchknowledge. The FAP may thus be uniquely suited to make road actiondecisions for the vehicles. In addition, with regard to latency, the FAPmay be close enough to the intersections, and have a small enough areaof responsibility, to provide low latency for road actiondeterminations. For example, a central controller for an entiremetropolitan area might not have the necessary processing power andaccess to the necessary communication link bandwidth to effectivelycontrol the movements of all vehicles in a timely manner.

Block 1040 may comprise performing such road action determining byexecuting an optimization algorithm designed to achieve one or moreemphasized goals. For example, as discussed herein, block 1040 may offermovement priority through an intersection for environmentallyresponsible vehicles, for ride share or multi-occupancy vehicles, etc.Block 1040 may also offer movement priority through an intersection formass transit vehicles, for scheduled vehicles of a fleet that are behindschedule, for emergency vehicles during the course of an emergency, etc.In another example scenario, the optimization algorithm may be designedto achieve maximum overall vehicle throughput through the intersection,for example in the absence of special circumstances.

In general, block 1040 may comprise determining road actions forvehicles. Accordingly, the scope of the present disclosure should not belimited by characteristics of any particular manner of performing suchdetermining.

The example method 1000 may, at block 1050, comprise communicating thedetermined road actions to the MAPs of the vehicles. Block 1050 maycomprise performing such communicating in any of a variety of manners,non-limiting examples of which are provided herein. Note that, asdiscussed herein, the communicated information may also (oralternatively) include intersection and/or vehicle context informationfrom which MAPs can make their own road action decisions (e.g., as agroup, autonomously, etc.).

Block 1050 may, for example, comprise communicating such informationutilizing any or all of the types of communication links discussedherein. For example, in an example scenario, a FAP may communicate theroad action information (or context information) to a MAP over a DSRClink, through a multi-hop DSRC link through one or more FAPs and/orMAPs, etc.

Block 1050 may, for example, comprise performing such communicating in asynchronous or asynchronous manner. The example, block 1050 may comprisecommunicating such information to a MAP upon request (e.g., requested bya MAP that is approaching a vehicle, etc.). Also for example, block 1050may comprise asynchronously pushing such information to a MAP (e.g.,when a FAP (or other node) determines that the MAP is approaching anintersection or other controlled traffic area). Additionally, forexample, block 1050 may comprise continually communicating updated roadaction information to all MAPs operating within the coverage area of theFAP (or other node).

In general, block 1050 may comprise communicating the determined roadactions to the MAPs of the vehicles. Accordingly, the scope of thisdisclosure should not be limited by characteristics of any particularmanner of performing such communicating.

The example method 1000 may, at block 1060, comprise receiving feedbacktraffic information from the MAPs. Block 1060 may comprise performingsuch receiving in any of a variety of manners, non-limiting examples ofwhich are provided herein.

For example, as discussed herein with regard to block 970 of the examplemethod 900 of FIG. 9, MAPs may communicate context information fortraffic intersections (or other controlled areas) or vehicles. Block1060 may, for example, comprise receiving such information from theMAPs.

The received information may, for example, comprise updated vehicleand/or intersection context information. Also for example, the receivedinformation may comprise information indicating a level of success forthe performed road actions. For example, such information may compriseinformation indicating deviations from a planned road action, unexpectedcircumstances that may have caused deviation from the planned roadaction. Also for example, such information may comprise informationindicating traffic intersection and/or vehicle context information thatwas determined by the MAP to be incorrect. Additionally, for example,such information may comprise information indicating temporary and/orpermanent intersection conditions that were not previously identified.

Block 1060 may comprise receiving information from the MAPs in asynchronous (e.g., solicited) and/or asynchronous (e.g., unsolicited)manner. For example, in an example scenario, a MAP may communicate theinformation whenever the MAP has information prepared to communicate.Also for example, block 1060 may comprise the node (e.g., FAP, etc.)communicating a message to a MAP (e.g., a MAP that has just passedthrough an intersection) requesting the information from the MAP.

In general, block 1060 may comprise receiving feedback trafficinformation from the MAPs. Accordingly, the scope of the presentdisclosure should not be limited by characteristics of any particulartraffic information or by characteristics of any particular manner ofreceiving such information.

In accordance with various aspect of this disclosure, systems andmethods are provided to ensure that information regarding vehicle actiondecisions made and/or implemented cannot be rolled back (e.g., aresecure and/or extremely difficult if not impossible to modify, hack, orfake once the actions are implemented). Additionally, the efficientcommunication of vehicle action information may provide for other nearbyvehicles to immediately know that the vehicle is deviating from theagreed-upon plan so that the other nearby vehicles may react in time toavoid a collision and/or to determine whether the deviation is relevantor irrelevant.

The decisions and actions (e.g., whether in conformance with thedecisions or not) may thus be recorded in a safe and secure manner thatis not reversible, such that the recorded history may not be altered.Various aspects of the present disclosure provide for multiplemechanisms or techniques by which this may be accomplished. For example,a centralized and/or distributed strategy may be implemented.

In an example centralized strategy, each node may be trusted by a singleentity, for example using a centralized authority (PKI), a reputationmechanism such as PGP, etc. Each node (or an AP) may send an agreed (orsigned) contract to the Cloud (e.g., a server thereof, etc.) or AP. Thedata may be signed by the node and sent to the central entity, whichthen verifies the node identify and securely stores the data. Ingeneral, all nodes will trust this central entity.

In an example distributed strategy, each node involved in an event(e.g., an intersection maneuver or sequence thereof, etc.) may keep alog of the messages/actions between all involved nodes. When a nodesends a new message, the message may comprise: a Hash {log+message}, aHash signature, and a Message. When a node retrieves a message, the nodemay hash its log as well and verify the hash match and signature.Depending on the action consensus decision, the node may add the actionto its log and perform the agreed-upon action. The nodes may thus keepan agreed distributed log. Note that any or all of this information mayalso be propagated to other nodes (e.g., other vehicle nodes or MobileAPs thereof, Fixed APs, Network Controllers, Cloud servers, centralcontrollers, fleet controllers, etc.).

While various algorithms, such as blockchain, may require proof-of-work(e.g., to present Sybil attacks or “forged identity” attacks), the nodesmay develop trust between each other utilizing keys, for example usingPKI, PGP, or other distributed trust algorithms. The trust may, forexample, be absolute (e.g., utilizing a centralized trust unit, ordecentralized architecture). In an example reputation-based trustmechanism, a node A trust in node B may be viewed (or defined) as a sumof the trust of other nodes in node B and the current trust of node A innode B. The trust may, for example, result from previous experiences inwhich the other node behaved as expected (or not), resulting in anoverall (e.g., distributed, etc.) determination of whether or notanother node (or vehicle) may be trusted based on previous experiencesinvolving the other node, based on context, etc.

In accordance with various aspects of the present disclosure, a systemmay improve its performance over time, resulting in improveddecision-making. For example, after executing a plan, which comprises atrajectory to follow over a particular time, the actual trajectory maybe compared with the planned one. For example, to minimize subsequentdeviations from planned trajectories, information of the actualimplementation, may inform future plans.

Such operation may have real-time immediate implications or long termimplementations for the decision making. For example, when there is anunexpected event (e.g., a collision, a road obstruction, etc.)occurring, the vehicles quickly contact the Cloud to determine if anydecisions should be reconsidered. The Cloud may also then consider suchinformation when performing future decisions.

In accordance with various aspects of the present disclosure, thenetwork of moving things may include any of a variety of types ofvehicles (e.g., road vehicles, drones, planes, boats, etc.), which maynegotiate with each other (and/or a central controller) and agree ontrajectories they must each follow in order to avoid colliding, storingthe agreement in a trusted manner. When there is a collision, a trustedelement (e.g., node, module, database, etc.) storing the trajectories(or paths) of the vehicles may then be consulted to determine whichmoving thing was at fault (e.g., to determine which vehicle was in thewrong (or misunderstood) place at the wrong time, etc.). Such knowledgemay, for example, lead to improvement of the overall traffic controlsystem, may assist insurance companies in and/or public safetydepartments with identifying the cause (or fault) of an unfortunateevent. Since such knowledge may originate from many more nodes thanthose directly involved in an incident, such knowledge may be morereliable overall for identifying an at-fault party.

FIG. 11 shows a flow diagram of an example method for controllingvehicle travel, in accordance with various aspects of the presentdisclosure. The example method 1100 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 400, 500-570, 600, 700, 800, 900, 1000, 1200,1300, and 1400, discussed herein.

The example method 1100 begins executing at block 1105. The examplemethod 1100 may begin executing in response to any of a variety ofcauses or conditions. For example, the example method 1100 may beginexecuting in response to a power-up or reset condition of a nodeimplementing the method 1100 or any portion thereof. Also for example,the method 1100 may begin executing in response to a signal indicatingthat one or more vehicles are at or approaching a location (e.g., at anintersection, on/off ramp, vehicle merge location, parking lot exit, busstop, railroad crossing, shopping mall parking lot, etc.) at whichvehicle travel guidance is generally provided. Additionally for example,the method 1100 may begin executing in response to a request receivedfrom a vehicle (e.g., a vehicle control system, Mobile AP, etc.,thereof) for travel guidance. Further for example, the method 1100 maybegin executing in response to a signal indicative of an emergencycondition, a traffic jam, a time of day, etc. Also for example, themethod 1100 may continually (or periodically) execute. The scope of thepresent disclosure should not be limited by characteristics of anyparticular initiating cause or condition.

The example method 1100 may, at block 1110, comprise developing a travelplan. Block 1110 may comprise developing the travel plan in any of avariety of manners, non-limiting examples of which are provided herein.For example, many examples are provided herein with regard to FIG. 8,and elsewhere herein. Many examples of travel plan development for oneor more vehicles are provided herein. For example, block 1110 maycomprise developing a travel plan at an intersection (e.g., at a trafficlight, at a merge location, at an on/off ramp, at a parking lot, at aloading/unloading zone, etc.) for one or more vehicles based onestablished rights-of-way, based on vehicle priority, based on vehiclespeed, based on intersection control signals, based on vehicle schedule,etc.

The example method 1100 may, at block 1120, comprise receivinginformation of an implemented travel plan. Block 1120 may comprisereceiving such information in any of a variety of manners, non-limitingexamples of which are provided herein.

For example, block 1120 may comprise receiving information identifyingvehicle travel movement of one or more or all of the vehicles involvedin a vehicle travel plan. As discussed herein, such information maycomprise vehicle ID information, location information, speed or velocityinformation, trajectory information, time information, sensorinformation, etc. Also for example, such information may compriseinformation regarding whether the vehicle did follow or intended tofollow a vehicle travel (or movement) plan. In an example scenario inwhich the vehicle did not follow a vehicle travel plan (e.g., apreviously agreed-upon travel plan, etc.), for example intentionally orunintentionally, the information may comprise information that causedthe vehicle to deviate from the vehicle travel plan (e.g., informationexplaining why the vehicle deviated from the vehicle travel plan, sensorreadings, communications from other vehicles, etc.). Also for example,the received information may comprise information.

Block 1120 may comprise receiving the information via any of a varietyof media and/or communication pathways. For example, block 1120 maycomprise receiving the information via a vehicle communication network,via a cellular network, etc. Block 1120 may, for example, comprisecommunicating (e.g., receiving, transmitting, etc.) the information in adelay-tolerant manner, in a real-time manner, etc.

The example method 1100 may, at block 1130, comprise securely storingthe information received at block 1120. Block 1130 may comprise securelystoring (or handling) the information in any of a variety of manners,non-limiting examples of which are provided herein.

For example, block 1130 may comprise validating the received information(e.g., via hash processing, decrypting, authenticating, etc.). Block1130 may, for example, comprise encrypting such information, storingredundant copies of such information (e.g., at geographically distinctsites with different respective security protocols, etc.). Block 1130may comprise storing such information in a database, where suchinformation is linked (e.g., by event, by a vehicle travel plan, bytime, by geographical location, etc.) in a manner in which theinformation is readily retrievable (e.g., for event recreation, etc.).

The example method 1100 may, at block 1140, comprise determining whetherthe strategy utilized to develop the travel plan at block 1110 should bemodified, and controlling the flow of the example method 1100 based onsuch determination.

Block 1140 may comprise making such a determination in any of a varietyof manners, non-limiting examples of which are provided herein. Forexample, block 1140 may comprise determining whether the travel plan wasimplemented by the relevant vehicles without the occurrence of anysignificant events (e.g., collisions, near collisions, significanttraffic flow disruptions, etc.), which may for example be indicative ofthe system operating well. Also for example, block 1140 may comprisedetermining that the travel plan was successfully implemented by therelevant vehicles, but that a collision nearly occurred (e.g., a vehiclepassed too close to another vehicle, person, object, etc.), which mayfor example be indicative of the system needing to adjust the travelplan development strategy to provide a larger space buffer (e.g., timeand/or distance between vehicles, etc.), account for variousunpredictable events, etc. Additionally for example, block 1140 maycomprise determining that a collision occurred, which will generally beindicative of a need to modify the travel plan development strategy, forexample to account for the cause of the collision (e.g., unknown roadconditions, an undetected object or vehicle, a vehicle unable toimplement a travel plan correctly, operator interference, unanticipatedtraffic control system behavior, etc.).

Further for example, block 1140 may comprise determining to modify thestrategy based on received information indicating that a vehicledeviated from a vehicle travel plan and/or based on received informationindicating why a vehicle deviated from the vehicle travel plan. Forexample, a deviation due to a road condition (or other unexpectedcondition), a permanent or recurring obstacle, an object or obstacle,etc., may result in modifying the strategy, while a relatively rareevent (e.g., like a ball or dog suddenly entering an intersection) mightnot result in modifying the strategy. Additionally for example, adeviation due to respective capability of a particular vehicle mayresult in modification of the strategy for developing travel plans forthat particular vehicle, but not for others. For example, some vehiclesmay be known to have relatively poor traction relative to othervehicles, relatively better braking and/or acceleration capability thanother vehicles, etc. Also for example, some vehicles may be known tohave better (or more advanced) sensing capabilities, faster responsetimes, more agility, etc.

If it is determined to modify the travel plan development strategy, thenblock 1140 directs execution flow of the example method 1100 to block1145. If it is determined that no modification to the travel plandevelopment strategy is warranted, then block 1140 directs executionflow of the example method 1100 to block 1195 for continued operation.

The example method 1100 may, at block 1145, comprise modifying thetravel plan development strategy utilized at block 1110. Block 1145 maycomprise modifying the travel plan development strategy in any of avariety of manners, non-limiting examples of which are provided herein.For example, block 1145 may comprise modifying a weight assigned to acost function parameter (e.g., a weight associated with any of the costfunction parameters discussed herein, etc.), adding or removing a factorfrom consideration, modifying a model vehicle velocity profile,adjusting a vehicle prioritization scheme, modifying a time window forvehicle movement, modifying a target distance buffer (or targetseparation) between vehicles and/or other objects, etc. Block 1145 mayalso, for example, comprise modifying a map on which the travel plan isbased to include an object that was not previously known or considered,a traffic control system behavior that was not previously known orconsidered, a road condition, etc.).

The example method 1100 may, at block 1195, comprise continuingoperation. For example, block 1195 may direct execution flow to anyblock, or portion thereof, of the example method 1100. Also for example,block 1195 may direct execution flow to any block, or portion thereof,of any example method discussed herein.

The example method 1100, or any portion thereof, may be implemented byany or all of the communication system nodes discussed herein. Forexample, the example method 1100 may be implemented by a Cloud server, acentral traffic controller, a fleet traffic controller, a NetworkController, a Fixed AP, a Mobile AP, an autonomous vehicle controlsystem, etc.

FIG. 12 shows a flow diagram of an example method for controllingvehicle travel, in accordance with various aspects of the presentdisclosure. The example method 1200 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 400, 500-570, 600, 700, 800, 900, 1000, 1100,1300, and 1400, discussed herein.

The example method 1200 begins executing at block 1205. The examplemethod 1200 may begin executing in response to any of a variety ofcauses or conditions. For example, the example method 1200 may beginexecuting in response to a power-up or reset condition of a nodeimplementing the method 1200 or any portion thereof. Also for example,the method 1200 may begin executing in response to a signal indicatingthat a vehicle (or one or more vehicles) implementing the method 1200 isat or approaching a location (e.g., at an intersection, on/off ramp,vehicle merge location, parking lot exit, bus stop, railroad crossing,shopping center parking lot, event parking lot, etc.) at which vehicletravel guidance is generally provided. Additionally for example, themethod 1200 may begin executing in response to a request received from avehicle (e.g., a vehicle control system, Mobile AP, etc., thereof) fortravel guidance. Also for example, the method 1200 may begin executingin response to a signal received from another node of the network (e.g.,from a Cloud server, from a node implementing the example method 1100 ofFIG. 11, from a vehicle near a node implementing the example method1200, etc.). Further for example, the method 1200 may begin executing inresponse to a signal indicative of an emergency condition, a collision,a near collision, a traffic jam, a time of day, etc. Also for example,the method 1200 may continually (or periodically) execute. The scope ofthe present disclosure should not be limited by characteristics of anyparticular initiating cause or condition.

The example method 1200 may, at block 1210, comprise developing a travelplan. Block 1210 may comprise developing the travel plan in any of avariety of manners, non-limiting examples of which are provided herein.Block 1210 may, for example, share any or all characteristics with block1110 of the example method 1100 of FIG. 11.

Block 1210 may, for example, comprise receiving the travel plan from acentral controller (e.g., a Cloud server, etc.). Also for example, block1210 may comprise receiving the travel plan from another vehicle.Additionally for example, block 1210 may comprise receiving the travelplan from Fixed AP, Network Controller, or other node of a vehiclecommunication network. Also for example, block 1210 may comprisenegotiating with the source of a received travel plan and/or with otherrelevant vehicles to reach consensus on an overall travel plan, whichmay involve coordinates movements of a plurality of vehicles. Block 1210may additionally, for example, comprise developing the travel planwithin a vehicle implementing the example method 1200 or any portionthereof.

Block 1210 may comprise detecting an unexpected condition (e.g., a roadcondition, an obstacle, a person, another vehicle, an emergencycondition, etc.) and deviating from a received travel plan toaccommodate the condition in a safe manner. For example, block 1210 maybegin with a predetermined travel plan (e.g., as received from anothernode, as developed in a collaborative effort with other nodes, etc.) andalter such plan based on real-time detected conditions.

The example method 1200 may, at block 1220, comprise implementing thetravel plan. Block 1220 may comprise implementing the travel plan in anyof a variety of manners, non-limiting examples of which are providedherein. For example, block 1220 may comprise implementing a timedsequence of defined movements of a mapped vehicle trajectory. Block 1220may also, for example, comprise taking corrective actions if it isdetermined that the vehicle is not moving according to plan, if othervehicles or objects are not moving according to plan or positioned asplanned, etc.

Block 1220 may, for example, may comprise communicating with other nodes(e.g., with a central controller, with other vehicles involved in achoreographed travel plan, etc.) during execution of a travel plan. Forexample, if a vehicle is not traveling according to plan (e.g., becauseof road conditions, because of a vehicle mechanical issue, etc.), thevehicle (or Mobile AP thereof, etc.) may communicate such deviation inreal-time to other vehicles, for example as a warning to the othervehicles that the vehicle might not be in the planned position and/ortraveling along the planned trajectory. The other vehicles may then, forexample during their respective implementations of the travel plan,modify their travel appropriately (e.g., adjusting their trajectory toavoid the vehicle, stopping until the vehicle context is more clearlyunderstood, stopping until a new travel plan is received from a centralcontroller or intersection controller, stopping until a new travel planis developed and agreed-upon by the relevant vehicles, etc.).

The example method 1200 may, at block 1230, comprise communicatinginformation of the implemented travel plan. Block 1230 may comprisecommunicating the information in any of a variety of manners,non-limiting examples of which are provided herein.

Block 1230 may, for example, comprise communicating any or allinformation accessible to the node concerning the implementation of thetravel plan. Such information may comprise any of a variety of types ofinformation (e.g., vehicle trajectory information, camera sensorinformation, audio sensor information, any sensor information,information of communications between a vehicle and other vehicles orsensors, information from a vehicle's braking and/or acceleratingsystem, information from a vehicle OBD system, information from anautonomous vehicle control system, information received from othervehicles, etc.). The information may, for example, comprise any or allof the types of information discussed herein with regard to block 1120of the example method 1100 of FIG. 11. The information may, for example,comprise information indicating that a vehicle is deviating from avehicle travel plan and/or information indicating why the vehicle has oris going to deviate from the vehicle travel plan (e.g., information ofroad conditions, obstacles detected, traffic control systemcommunications or signals, communications with other vehicles involved(and/or not involved) with implementing the vehicle travel plan, sensorsignals, vehicle control signals (e.g., OBD signals, etc.), actualvehicle trajectory information (e.g., position, velocity, path, etc.)for the vehicle and/or other vehicles, etc.

Block 1230 may comprise communicating the information to any one or moreof a variety of destinations (e.g., to a central controller, to a Cloudserver, to a Cloud database, to one or more vehicles, to one or moreAPs, etc.). Block 1230 may comprise communicating the information viaany one or more of a variety of communication pathways (e.g., via avehicle communication network, via a cellular network, etc.).

As discussed herein, depending on the nature of the information and/orthe results of the travel plan implemented at block 1220, block 1230 maycomprise selecting an appropriate communication pathway and/ordestination for the information. For example, in an example scenario inwhich the travel plan was implemented at block 1220 without significantincident, block 1230 may comprise determining to communicate andcommunicating the information via a vehicle network in a delay-tolerantmanner (e.g., in an opportunistic manner over a Wi-Fi network whenavailable, as a low-priority communication via the vehicle communicationnetwork, waiting until a vehicle has completed travel, etc.). Also forexample, in an example scenario in which the travel plan implemented atblock 1220 was associated with a collision, block 1230 may comprisedetermining to communicate and communicating the information via afastest and/or most reliable link (e.g., cellular link, etc.). Note thatthe same information may be communicated via a plurality of differentcommunication links (e.g., any one or more of the types of communicationlinks discussed herein, etc.). Additionally for example, in an examplescenario in which a near collision occurs, block 1230 may comprisedetermining to communicate and communicating the information in afastest (or relatively fast) manner available via the vehiclecommunication network, but not utilizing the cellular network. Also forexample, in an example scenario in which the travel plan was implementedaccording to plan, block 1230 may comprise determining to wait until amost cost-effective manner of communicating the information is available(e.g., waiting until the vehicle passes a Wi-Fi hotspot, waiting untilthe vehicle is plugged in and/or at a station at the end of the day,etc.).

The example method 1200 may, at block 1295, comprise continuingexecution. For example, block 1295 may direct execution flow to anyblock, or portion thereof, of the example method 1200. Also for example,block 1295 may direct execution flow to any block, or portion thereof,of any example method discussed herein.

The example method 1200 may be implemented by any or all of thecommunication system nodes discussed herein. For example, the examplemethod 1200 (or any portion thereof) may be implemented by a systemon-board a vehicle (e.g., an autonomous vehicle control system, a MobileAP, etc.). Also for example, the example method 1200 (or any portionthereof) may be implemented by Cloud server, a central trafficcontroller, a fleet traffic controller, a Network Controller, a FixedAP, a Mobile AP, etc.

FIG. 13 shows a flow diagram of an example method for monitoring vehicletravel and recreating a vehicle travel event, in accordance with variousaspects of the present disclosure. The example method 1300 may, forexample, share any or all characteristics with the other examplemethods, networks and/or network components 100, 200, 300, 400, 500-570,600, 700, 800, 900, 1000, 1100, 1200, and 1400, discussed herein.

The example method 1300 begins executing at block 1305. The examplemethod 1300 may begin executing in response to any of a variety ofcauses or conditions. For example, the example method 1300 may beginexecuting in response to a power-up or reset condition of a nodeimplementing the method 1300 or any portion thereof. Also for example,the method 1300 may begin executing in response to a signal indicatingthat one or more vehicles have implemented a travel plan. Additionallyfor example, the method 1300 may begin executing in response to amessage received from a vehicle (e.g., a vehicle control system thereof,Mobile AP of the vehicle, etc.) comprising information associated with atravel plan implemented by the vehicle. Further for example, the method1300 may begin executing in response to a signal indicative of anemergency condition, a traffic jam, a time of day, a collision, a nearcollision, etc.). Also for example, the method 1300 may continually (orperiodically) execute. The scope of the present disclosure should not belimited by characteristics of any particular initiating cause orcondition.

The example method 1300 may, at block 1310, comprise receiving vehicletravel information. Block 1310 may comprise performing such receiving inany of a variety of manners, non-limiting examples of which are providedherein.

For example, block 1310 may share any or all characteristics with block1120 of the example method 1100 of FIG. 11. Block 1310 may, for example,comprise receiving the information communicated at block 1230 of theexample method 1200 of FIG. 12.

For example, block 1310 may comprise receiving information identifyingvehicle travel movement of one or more or all of the vehicles involvedin a vehicle travel plan. As discussed herein, such information maycomprise vehicle ID information, location information, speed or velocityinformation, trajectory information, time information, sensorinformation, road condition information, weather information, audioand/or video information, vehicle control system information, vehicleOBD information, etc. Also for example, such information may compriseinformation regarding whether the vehicle did follow or intended tofollow a vehicle travel (or movement) plan. In an example scenario inwhich the vehicle did not follow a vehicle travel plan (e.g., apreviously agreed-upon travel plan, etc.), for example intentionally orunintentionally, the information may comprise information that causedthe vehicle to deviate from the plan.

Block 1310 may comprise receiving the information via any of a varietyof media and/or communication pathways. For example, block 1310 maycomprise receiving the information via a vehicle communication network,via a cellular network, etc. Block 1310 may, for example, comprisecommunicating the information in a delay-tolerant manner, in a real-timemanner, etc.

The example method 1300 may, at block 1320, comprise validating andsecurely storing (or handling) the information received at block 1310.Block 1320 may comprise performing such validating and/or storing in anyof a variety of manners, non-limiting examples of which are providedherein.

For example, block 1320 may share any or all characteristics with block1130 of the example method 1100 of FIG. 11.

For example, block 1320 may comprise validating the received information(e.g., via hash processing, decrypting, authenticating, etc.). Block1320 may, for example, comprise encrypting and/or hashing suchinformation, storing redundant copies of such information (e.g., atgeographically distinct sites with different respective securityprotocols, etc.). Block 1320 may comprise storing such information in adatabase, where such information is linked (e.g., by event, by a vehicletravel plan, by time, by geographical location, etc.) in a manner inwhich the information is readily retrievable (e.g., for eventrecreation, etc.).

The example method 1300 may, at block 1330, comprise receiving a requestfor event recreation. Block 1330 may comprise receiving such request inany of a variety of manners, non-limiting examples of which are providedherein.

Block 1330 may comprise receiving the request from any of a variety ofsources (e.g., a public safety organization, a traffic controlorganization, a court of law, an insurance company, etc.). The requestmay comprise any of a variety of characteristics. For example, thereceived request may comprise a request for all information associatedwith one or more particular vehicles, a request for all informationassociated with a particular intersection during a specified timewindow, etc. The request may, for example, comprise a sequence of one ormore API commands. The request may, for example, be associated withblock 1120 of the example method 1100 of FIG. 11 for information thatmay be utilized to analyze and/or modify a strategy for determiningtravel plans.

Block 1330 may comprise receiving the request via any of a variety ofcommunication media. For example, block 1330 may comprise receiving therequest via a vehicle communication network, via landline communication,via the Internet, via a cellular link, etc.

The request may also, for example, comprise a request for a recreatedtraffic event. For example, the request may comprise a request forrecreated traffic activity at a specified intersection (or any locationor geographical area of interest) during a specified time window. Alsofor example, the request may comprise a request for recreated traveltrajectory for one or more specified vehicles during a specified timewindow.

The example method 1300 may, at block 1340, comprise providinginformation of a recreated event. Block 1340 may comprise providing suchinformation in any of a variety of manners, non-limiting examples ofwhich are provided herein.

For example, block 1340 may comprise providing a moving picture file(e.g., time-lapsed graphical representation) of the recreated event.Also for example, block 1340 may comprise providing a spreadsheetdetailing vehicle and/or other object movement represented as a timeprogression. Additionally for example, block 1340 may comprise providingindividually time-synchronized files of position for each known objectduring a time window.

Block 1340 may also, for example, comprise flagging (or highlighting orotherwise indicating) instances of vehicle deviation from a travel plan,for example comprising any or all information that may indicate why suchdeviation occurred (e.g., detected previously-unknown object orobstacle, vehicle failure condition, manual override, detected roadcondition, etc.). Block 1340 may additionally, for example, compriseflagging (or highlighting or otherwise indicating) instances ofcollision or near-collision.

The example method 1300 may, at block 1395, comprise continuingexecution. For example, block 1395 may direct execution flow to anyblock, or portion thereof, of the example method 1300. Also for example,block 1395 may direct execution flow to any block, or portion thereof,of any example method discussed herein.

The example method 1300 may be implemented by any or all of thecommunication system nodes discussed herein. For example, the examplemethod 1300 may be implemented by a Cloud server, a central trafficcontroller, a fleet traffic controller, a Network Controller, a FixedAP, a Mobile AP, an autonomous vehicle control system, etc.

As explained herein, the functionality (e.g., vehicle actiondetermination and/or implementation functionality, etc.) discussedherein may be performed in a single node, for example any or all of thenodes discussed herein, but may also be performed in a distributedmanner in which respective portions of the functionality discussedherein are performed by respective nodes. A non-limiting example of anetwork and/or node implementation is provided at FIG. 14.

FIG. 14 shows a block diagram of various components of an examplenetwork node, in accordance with various aspects of the presentdisclosure. The example node 1400 may, for example, share any or allcharacteristics with the other example methods, networks and/or networkcomponents 100, 200, 300, 400, 500-570, 600, 700, 800, 900, 1000, 1100,1200, and 1300, discussed herein. For example, any or all of thecomponents of the example node 1400 may perform any or all of the methodsteps presented herein.

The network node 1400 may, for example, comprise any of the networknodes discussed herein, for example an access point (AP) node (e.g., aMobile AP, a Fixed AP, etc.), a Network Controller, a Cloud serverand/or database, a vehicle control system, etc. The example node 1400may comprise a variety of components (or modules), non-limiting examplesof which are provided herein. Note that any or all of the components (ormodules) may be housed in a single housing, but such configuration isnot required. For example, in an example implementation, components (ormodules) associated with providing access point services may be housedin a first housing, and components (or modules) associated withcontrolling vehicle movement may be housed in a second housing that iscommunicatively coupled to the first housing.

The example node 1400 may, for example, comprise a communicationinterface (I/F) module 1420 (e.g., including a cellular communicationinterface module, mobile network communication interface module, Wi-Ficommunication interface module, user/client communication interfacemodule, etc.) that operates to perform any or all of the wireless and/orwired communication functionality for the node 1400, many examples ofwhich are provided herein (e.g., communication with sensors external to(or of) the node 1400, communication with the onboard diagnostic (OBD)system of a vehicle in which the node 1400 is installed, communicationwith an autonomous vehicle control system of a vehicle in which the node1400 is installed, communication with peer nodes, communication withMobile APs and/or Fixed APs, communication with Network Controllers,communication with client devices, backhaul communication, Cloud servercommunication, etc.). The communication interface (I/F) module 1420 may,for example, operate in accordance with any of a variety of cellularcommunication protocols, 3G, 4G, LTE, wireless LAN communicationprotocols (e.g., Wi-Fi, etc.), wireless PAN communication protocols(e.g., Bluetooth, etc.), 802.11p or DSRC, satellite communicationprotocols, fiber or cable communication protocols, LAN protocols (e.g.,Ethernet, etc.), TCP/IP, etc.

The example node 1400 may, for example, comprise a vehicle action module1430 that operates to perform any or all of the vehicle actionfunctionality discussed herein. The example vehicle action module 1430may, for example, comprise hardware and/or software that operate toimplement any or all of the node's vehicle action control functionalitydiscussed herein. For example, the vehicle action module 1430 mayoperate to perform any or all of the operations discussed herein in thediscussion of FIGS. 8-13 and the other portions of the presentdisclosure.

The example node 1400 may, for example, comprise a Master Control Module1410 that generally manages operation of the node 1400 at a high level.Such Master Control Module 1410 may, for example, comprise variousaspects of an operating system for the node 1400.

The example node 1400 may further, for example, comprise one or moreapplications 1450 executing on the node 1400 (e.g., client managementapplications, security applications, power management applications,vehicle monitoring applications, location services applications, sensorinterface applications, etc.).

The example node 1400 may also comprise one or more processors 1480 andmemory devices 1490. The processor(s) 1480 may, for example, compriseany of a variety of processor characteristics. For example, theprocessor(s) 1480 may comprise one or more of a general purposeprocessor, RIS processor, microcontroller, ASIC, DSP, video processor,etc.). The memory device(s) 1490 may, for example comprise any of avariety of memory characteristics. For example, the memory device(s)1490 may comprise a volatile memory, non-volatile memory, etc. Thememory device(s) 1490 may, for example, comprise a non-transitorycomputer-readable (or machine-readable) medium that comprises softwareinstructions that when executed by the processor(s) 1480, cause the node1400 (or modules or entities thereof) to perform any or all of thefunctionality discussed herein (e.g., with regard to the example methodsdiscussed herein, etc.). The memory device(s) 1490 may, for example,store node information (e.g., CNL information, Wi-Fi hotspot listinformation, NIB information, configurable cost function information,etc.). The memory device(s) 1490 may also, for example, store any or allof the context information discussed herein (e.g., vehicle contextinformation, intersection context information, etc.). The memorydevice(s) 1490 may additionally, for example, store any or all of theinformation discussed herein regarding vehicle travel (or trajectory)actions to take, actions taken, etc.

As explained herein, the functionality (e.g., vehicle actiondetermination and/or implementation functionality, etc.) discussedherein may be performed in a single node, for example any or all of thenodes discussed herein, but may also be performed in a distributedmanner in which respective portions of the functionality discussedherein are performed by respective nodes.

In accordance with various aspects of this disclosure, examples of thenetworks and/or components thereof presented herein are provided in U.S.Provisional Application Ser. No. 62/222,192, titled “CommunicationNetwork of Moving Things,” filed on Sep. 22, 2015, which is herebyincorporated herein by reference in its entirety.

In accordance with various aspects of this disclosure, the networksand/or components thereof presented herein are provided with systems andmethods for integrating such networks and/or components with othernetworks and systems, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/221,997, titled “IntegratedCommunication Network for A Network of Moving Things,” filed on Sep. 22,2015, which is hereby incorporated herein by reference in its entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for synchronizing such networks and/or components,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/222,016, titled “Systems and Methods forSynchronizing a Network of Moving Things,” filed on Sep. 22, 2015, whichis hereby incorporated herein by reference in its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing such networks and/or components,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/222,042, titled “Systems and Methods forManaging a Network of Moving Things,” filed on Sep. 22, 2015, which ishereby incorporated herein by reference in its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for monitoring such networks and/or components,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/222,066, titled “Systems and Methods forMonitoring a Network of Moving Things,” filed on Sep. 22, 2015, which ishereby incorporated herein by reference in its entirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for detecting and/or classifying anomalies insuch networks and/or components, non-limiting examples of which areprovided in U.S. Provisional Application Ser. No. 62/222,077, titled“Systems and Methods for Detecting and Classifying Anomalies in aNetwork of Moving Things,” filed on Sep. 22, 2015, which is herebyincorporated herein by reference in its entirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing mobility in such networks and/orcomponents, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,098, titled “Systems and Methodsfor Managing Mobility in a Network of Moving Things,” filed on Sep. 22,2015, which is hereby incorporated herein by reference in its entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing connectivity in such networks and/orcomponents, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,121, titled “Systems and Methodsfor Managing Connectivity a Network of Moving Things,” filed on Sep. 22,2015, which is hereby incorporated herein by reference in its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for collecting sensor data in such networks and/orcomponents, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,135, titled “Systems and Methodsfor Collecting Sensor Data in a Network of Moving Things,” filed on Sep.22, 2015, which is hereby incorporated herein by reference in itsentirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for interfacing with such networks and/orcomponents, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,145, titled “Systems and Methodsfor Interfacing with a Network of Moving Things,” filed on Sep. 22,2015, which is hereby incorporated herein by reference in its entirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for interfacing with a user of such networksand/or components, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,150, titled “Systems and Methodsfor Interfacing with a User of a Network of Moving Things,” filed onSep. 22, 2015, which is hereby incorporated herein by reference in itsentirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for data storage and processing in such networksand/or components, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,168, titled “Systems and Methodsfor Data Storage and Processing for a Network of Moving Things,” filedon Sep. 22, 2015, which is hereby incorporated herein by reference inits entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for vehicle traffic management in such networksand/or components, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,183, titled “Systems and Methodsfor Vehicle Traffic Management in a Network of Moving Things,” filed onSep. 22, 2015, which is hereby incorporated herein by reference in itsentirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for environmental management in such networks and/orcomponents, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/222,186, titled “Systems and Methodsfor Environmental Management in a Network of Moving Things,” filed onSep. 22, 2015, which is hereby incorporated herein by reference in itsentirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing port or shipping operation in suchnetworks and/or components, non-limiting examples of which are providedin U.S. Provisional Application Ser. No. 62/222,190, titled “Systems andMethods for Port Management in a Network of Moving Things,” filed onSep. 22, 2015, which is hereby incorporated herein by reference in itsentirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for enhancing the accuracy of positioning orlocation information based at least in part on historical data,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/244,828, titled “Utilizing Historical Data toCorrect GPS Data in a Network of Moving Things,” filed on Oct. 22, 2015,which is hereby incorporated herein by reference in its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for enhancing the accuracy of position or locationof positioning or location information based at least in part on theutilization of anchors, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/244,930, titled “Using Anchorsto Correct GPS Data in a Network of Moving Things,” filed on Oct. 22,2015, which is hereby incorporated herein by reference in its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for providing communication between applications,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/246,368, titled “Systems and Methods forInter-Application Communication in a Network of Moving Things,” filed onOct. 26, 2015, which is hereby incorporated herein by reference in itsentirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for probing, analyzing and/or validatingcommunication, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/246,372, titled “Systems and Methodsfor Probing and Validating Communication in a Network of Moving Things,”filed on Oct. 26, 2015, which is hereby incorporated herein by referencein its entirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for adapting communication rate, non-limitingexamples of which are provided in U.S. Provisional Application Ser. No.62/250,544, titled “Adaptive Rate Control for Vehicular Networks,” filedon Nov. 4, 2015, which is hereby incorporated herein by reference in itsentirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for reconfiguring and adapting hardware,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/273,878, titled “Systems and Methods forReconfiguring and Adapting Hardware in a Network of Moving Things,”filed on Dec. 31, 2015, which is hereby incorporated herein by referencein its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for optimizing the gathering of data, non-limitingexamples of which are provided in U.S. Provisional Application Ser. No.62/253,249, titled “Systems and Methods for Optimizing Data Gathering ina Network of Moving Things,” filed on Nov. 10, 2015, which is herebyincorporated herein by reference in its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for performing delay tolerant networking,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/257,421, titled “Systems and Methods for DelayTolerant Networking in a Network of Moving Things,” filed on Nov. 19,2015, which is hereby incorporated herein by reference in its entirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for improving the coverage and throughput ofmobile access points, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/265,267, titled “Systems andMethods for Improving Coverage and Throughput of Mobile Access Points ina Network of Moving Things,” filed on Dec. 9, 2015, which is herebyincorporated herein by reference in its entirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for coordinating channel utilization, non-limitingexamples of which are provided in U.S. Provisional Application Ser. No.62/270,858, titled “Channel Coordination in a Network of Moving Things,”filed on Dec. 22, 2015, which is hereby incorporated herein by referencein its entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for implementing a network coded mesh network in thenetwork of moving things, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/257,854, titled “Systems andMethods for Network Coded Mesh Networking in a Network of MovingThings,” filed on Nov. 20, 2015, which is hereby incorporated herein byreference in its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for improving the coverage of fixed access points,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/260,749, titled “Systems and Methods forImproving Fixed Access Point Coverage in a Network of Moving Things,”filed on Nov. 30, 2015, which is hereby incorporated herein by referencein its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing mobility controllers and their networkinteractions, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/273,715, titled “Systems and Methodsfor Managing Mobility Controllers and Their Network Interactions in aNetwork of Moving Things,” filed on Dec. 31, 2015, which is herebyincorporated herein by reference in its entirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for managing and/or triggering handovers ofmobile access points, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/281,432, titled “Systems andMethods for Managing and Triggering Handovers of Mobile Access Points ina Network of Moving Things,” filed on Jan. 21, 2016, which is herebyincorporated herein by reference in its entirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for performing captive portal-related control andmanagement, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/268,188, titled “CaptivePortal-related Control and Management in a Network of Moving Things,”filed on Dec. 16, 2015, which is hereby incorporated herein by referencein its entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for extrapolating high-value data, non-limitingexamples of which are provided in U.S. Provisional Application Ser. No.62/270,678, titled “Systems and Methods to Extrapolate High-Value Datafrom a Network of Moving Things,” filed on Dec. 22, 2015, which ishereby incorporated herein by reference in its entirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for providing remote software updating anddistribution, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/272,750, titled “Systems and Methodsfor Remote Software Update and Distribution in a Network of MovingThings,” filed on Dec. 30, 2015, which is hereby incorporated herein byreference in its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for providing remote configuration updating anddistribution, non-limiting examples of which are provided in U.S.Provisional Application Ser. No. 62/278,662, titled “Systems and Methodsfor Remote Configuration Update and Distribution in a Network of MovingThings,” filed on Jan. 14, 2016, which is hereby incorporated herein byreference in its entirety.

Still further, in accordance with various aspects of this disclosure,the networks and/or components thereof presented herein are providedwith systems and methods for adapting the network, for exampleautomatically, based on user feedback, non-limiting examples of whichare provided in U.S. Provisional Application Ser. No. 62/286,243, titled“Systems and Methods for Adapting a Network of Moving Things Based onUser Feedback,” filed on Jan. 22, 2016, which is hereby incorporatedherein by reference in its entirety.

Yet further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for enhancing and/or guaranteeing data integritywhen building or performing data analytics, non-limiting examples ofwhich are provided in U.S. Provisional Application Ser. No. 62/278,764,titled “Systems and Methods to Guarantee Data Integrity When BuildingData Analytics in a Network of Moving Things,” Jan. 14, 2016, which ishereby incorporated herein by reference in its entirety.

Also, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for performing self-initialization and/or automatedbootstrapping of mobile access points, non-limiting examples of whichare provided in U.S. Provisional Application Ser. No. 62/286,515, titled“Systems and Methods for Self-Initialization and Automated Bootstrappingof Mobile Access Points in a Network of Moving Things,” filed on Jan.25, 2016, which is hereby incorporated herein by reference in itsentirety.

Additionally, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for managing power supply and/or utilization,non-limiting examples of which are provided in U.S. ProvisionalApplication Ser. No. 62/295,602, titled “Systems and Methods for PowerManagement in a Network of Moving Things,” filed on Feb. 16, 2016, whichis hereby incorporated herein by reference in its entirety.

Further, in accordance with various aspects of this disclosure, thenetworks and/or components thereof presented herein are provided withsystems and methods for automating and easing the installation and setupof the infrastructure, non-limiting examples of which are provided inU.S. Provisional Application Ser. No. 62/299,269, titled “Systems andMethods for Automating and Easing the Installation and Setup of theInfrastructure Supporting a Network of Moving Things,” filed on Feb. 24,2016, which is hereby incorporated herein by reference in its entirety.

In summary, various aspects of this disclosure provide systems andmethods for tracking and/or fault detection in a network of movingthings. As non-limiting examples, various aspects of this disclosureprovide systems and methods for tracking vehicles (e.g., autonomousvehicles, manually controlled vehicles, etc.) and/or performing faultdetection of a network of moving things. While the foregoing has beendescribed with reference to certain aspects and examples, it will beunderstood by those skilled in the art that various changes may be madeand equivalents may be substituted without departing from the scope ofthe disclosure. In addition, many modifications may be made to adapt aparticular situation or material to the teachings of the disclosurewithout departing from its scope. Therefore, it is intended that thedisclosure not be limited to the particular example(s) disclosed, butthat the disclosure will include all examples falling within the scopeof the appended claims.

What is claimed is:
 1. A system for tracking and controlling roadactions in a vehicle communication network, the system comprising: anode of a vehicle communication network, the node comprising: at leastone network transceiver; at least one module, comprising at least aprocessor and a memory, operable to at least: utilize the at least onenetwork transceiver to communicate with mobile access points (MAPs) ofthe vehicle communication network; develop, utilizing a vehicle travelplan development strategy, a vehicle travel plan for a vehicleassociated with a MAP, the vehicle travel plan describing road actionsthat the vehicle is to implement; utilize the at least one networktransceiver to communicate the vehicle travel plan to the MAP; receivefrom the MAP, information describing the vehicle's implementation of thevehicle travel plan; and store the received information; and a mobileaccess point (MAP) of the vehicle communication network, the mobileaccess point comprising: at least one wireless transceiver; at least onemodule, comprising at least a processor and a memory, operable to atleast: utilize the at least one wireless transceiver to communicate withother mobile access points and fixed access points of the vehiclecommunication network; determine, as a vehicle associated with the MAPtravels, a vehicle travel plan for the vehicle, the vehicle travel plandescribing road actions that the vehicle is to implement; during and/orafter implementation of the vehicle travel plan by the vehicle,communicate information to the node describing the implementation of thevehicle travel plan by the vehicle.
 2. The system of claim 1, whereinthe at least one module of the node is operable to analyze the receivedinformation to determine whether to modify the vehicle travel plandevelopment strategy.
 3. The system of claim 1, wherein the informationdescribing the implementation of the vehicle travel plan by the vehiclecomprises information indicating that the vehicle deviated from thevehicle travel plan.
 4. The system of claim 1, wherein the at least onemodule of the MAP is operable to determine a manner in which tocommunicate the information to the node, and to communicate theinformation to the node in the determined manner.
 5. The system of claim1, wherein the at least one module of the node is operable to determinewhether to modify the vehicle travel plan development strategy based, atleast in part, on whether the received information indicates that thevehicle deviated from the vehicle travel plan.
 6. The system of claim 1,wherein the at least one module of the node is operable to determinewhether to modify the vehicle travel plan development strategy based, atleast in part, on whether the received information indicates that theimplementation of the vehicle travel plan by the vehicle resulted in asignificant traffic event.
 7. A mobile access point (MAP) of a vehiclecommunication network, the mobile access point comprising: at least onewireless transceiver; at least one module, comprising at least aprocessor and a memory, operable to at least: utilize the at least onewireless transceiver to communicate with other mobile access points ofthe vehicle communication network; utilize the at least one wirelesstransceiver to communicate with fixed access points of the vehiclecommunication network; utilize the at least one wireless transceiver toprovide wireless local area network (WLAN) connectivity to client nodesof the mobile access point; determine, as a vehicle associated with theMAP travels, a vehicle travel plan for the vehicle, the vehicle travelplan describing road actions that the vehicle is to implement; duringand/or after implementation of the vehicle travel plan by the vehicle,communicate implementation information to another node describing theimplementation of the vehicle travel plan by the vehicle.
 8. The mobileaccess point of claim 7, wherein the at least one module is operable todetermine the vehicle travel plan by, at least in part, operating toreceive at least a portion of the vehicle travel plan from another nodeof the vehicle communication network.
 9. The mobile access point ofclaim 7, wherein, during implementation of the vehicle travel plan bythe vehicle, the at least one module is operable to communicateinformation with one or more other MAPs indicating that the vehicle isdeviating from the vehicle travel plan.
 10. The mobile access point ofclaim 7, wherein the implementation information comprises informationindicating that the vehicle deviated from the vehicle travel plan. 11.The mobile access point of claim 10, wherein the information indicatingthat the vehicle deviated from the vehicle travel plan comprisesinformation indicating why the vehicle deviated from the vehicle travelplan.
 12. The mobile access point of claim 10, wherein the informationindicating that the vehicle deviated from the vehicle travel plancomprises vehicle trajectory information for the vehicle and for one ormore other vehicles.
 13. The mobile access point of claim 7, wherein theat least one module is operable to determine a manner in which tocommunicate the implementation information to the node by, at least inpart, operating to determine whether to communicate the implementationinformation to the other node immediately or in a delay-tolerant manner.14. The mobile access point of claim 7, wherein the at least one moduleis operable to determine a manner in which to communicate theimplementation information to the node by, at least in part, operatingto select a communication network of a plurality of communicationnetworks through which to communicate the implementation information.15. The mobile access point of claim 14, wherein the plurality ofcommunication networks comprises the vehicle communication network and acellular communication network.
 16. The mobile access point of claim 7,wherein the at least one module is operable to determine a manner inwhich to communicate the implementation information to the node based,at least in part, on whether implementation of the vehicle travel planby the vehicle resulted in a significant traffic event.
 17. The mobileaccess point of claim 16, wherein the significant traffic eventcomprises a collision, a near collision, and/or a traffic flowdisruption.
 18. A node of a vehicle communication network, the nodecomprising: at least one network transceiver; at least one module,comprising at least a processor and a memory, operable to at least:utilize the at least one network transceiver to communicate with mobileaccess points (MAPs) of the vehicle communication network; develop,utilizing a vehicle travel plan development strategy, a vehicle travelplan for a vehicle associated with a MAP, the vehicle travel plandescribing road actions that the vehicle is to implement; utilize the atleast one network transceiver to communicate the vehicle travel plan tothe MAP; receive from the MAP, information describing the vehicle'simplementation of the vehicle travel plan; and analyze the receivedinformation to determine whether to modify the vehicle travel plandevelopment strategy.
 19. The node of claim 18, wherein the at least onemodule is operable to determine whether to modify the vehicle travelplan development strategy based, at least in part, on whether thereceived information indicates that the vehicle deviated from thevehicle travel plan.
 20. The node of claim 18, wherein the at least onemodule is operable to determine whether to modify the vehicle travelplan development strategy based, at least in part, on whetherimplementation of the vehicle travel plan resulted in a significanttraffic event.
 21. The node of claim 20, wherein the significant trafficevent comprises a collision, a near collision, and/or a traffic flowdisruption.
 22. The node of claim 18, wherein the received informationcomprises information indicating why the vehicle deviated from thevehicle travel plan.
 23. The node of claim 22, wherein the informationindicating why the vehicle deviated from the vehicle travel plancomprises information describing at least one unexpected condition thatcaused the vehicle to deviate from the vehicle travel plan.
 24. The nodeof claim 18, wherein the at least one module is operable to modify thevehicle travel plan development strategy to account for: a roadcondition that was previously not accounted for in the travel plandevelopment strategy; and/or an object that was previously not accountedfor in the travel plan development strategy.
 25. The node of claim 18,wherein the at least one module is operable to modify the vehicle travelplan development strategy by, at least in part, operating to increase atarget separation between vehicles.
 26. The node of claim 18, whereinthe at least one module is operable to modify the vehicle travel plandevelopment strategy by, at least in part, operating to modify a weightassigned to a cost function parameter of the travel plan developmentstrategy.
 27. The node of claim 18, wherein the at least one module isoperable to modify the vehicle travel plan development strategy by, atleast in part, operating to add or remove a factor from consideration bythe travel plan development strategy.
 28. The node of claim 18, whereinthe node comprises an access point of the vehicle communication network.